Objects in Communication Profile Zone
The TM3 CANopen bus coupler supports the following communication objects:
|
Index |
Name |
|---|---|
|
Device type |
|
|
Error register |
|
|
Manufacturer status register |
|
|
Pre-defined error field |
|
|
COB-ID SYNC |
|
|
Communication cycle period |
|
|
Manufacturer device name |
|
|
Manufacturer software version |
|
|
Guard time |
|
|
Life time factor |
|
|
COB-ID EMCY |
|
|
Consumer heartbeat time |
|
|
Producer heartbeat time |
|
|
Identity Object |
|
|
Module list |
|
|
Error behavior |
|
|
1st Server SDO parameter |
|
|
2nd Server SDO parameter |
|
|
1st to 29th receive PDO communication parameter |
|
|
1st to 29th receive PDO mapping parameter |
|
|
1st to 56th transmit PDO communication parameter |
|
|
1st to 56th transmit PDO mapping parameter |
This object indicates the device type and its functionalities.
The following table provides a general overview of the object:
|
Object Attribute |
Value |
|---|---|
|
Sub-index |
0 |
|
Description |
- |
|
Code |
VAR |
|
Data Type |
UNSIGNED32 |
|
Access |
RO |
|
PDO Allowed |
No |
|
Range |
UNSIGNED32 |
|
Default Value |
0x00800191 |
The object value consists of the following two 16-bit fields:
oLeast Significant
401Dec or 191H (for CANopen standard inputs / outputs).
oMost Significant
Provides details of the bus coupler's functionalities, described in the following table.
NOTE: The value depends on the type TM2/TM3 modules connected.
|
Bit |
Meaning |
|---|---|
|
1 |
The device has digital inputs |
|
2 |
The device has digital outputs |
|
3 |
The device has analog inputs |
|
4 |
The device has analog outputs |
|
5-7 |
Not used |
|
8 |
0 = The device supports predefined, generic PDO mapping |
|
1 = The device supports device-specific PDO mapping |
|
|
9-16 |
Not used |
This object allows the bus coupler to indicate internal faults. When a fault is detected, the corresponding bit is activated.
The following table provides a general overview of the object:
|
Object Attribute |
Value |
|---|---|
|
Sub-index |
0 |
|
Description |
- |
|
Code |
VAR |
|
Data Type |
UNSIGNED8 |
|
Access |
RO |
|
PDO Allowed |
Yes |
|
Range |
UNSIGNED8 |
|
Default Value |
- |
The following table describes the error type that can be displayed by the bus coupler in the 8-bit field:
|
Bit |
Meaning |
Comment |
|---|---|---|
|
0 |
Generic error |
Set when any error is detected. |
|
1 |
Reserved (0) |
- |
|
2 |
Reserved (0) |
- |
|
3 |
Reserved (0) |
- |
|
4 |
Communication error |
Set when communication issues have occurred. |
|
5 |
Device specific |
Device profile related issues. |
|
6 |
Reserved (0) |
- |
|
7 |
Manufacturer specific |
Set when an error occurs in the application layer (bus coupler issues, firmware update, rotary switch changed). |
Object 1002H: Manufacturer Status Register
This object provides key status information of the bus coupler as well as the connected TM2/TM3 modules.
The following table provides a general overview of the object:
|
Object Attribute |
Value |
|---|---|
|
Sub-index |
0 |
|
Description |
- |
|
Code |
VAR |
|
Data Type |
UNSIGNED32 |
|
Access |
RO |
|
PDO Allowed |
Yes |
|
Range |
UNSIGNED32 |
|
Default Value |
- |
Diagnostics data is saved in the 32-bit field. This object is contained in the EMCY message and is transmitted when an error occurs. The table below shows the bit assignment
|
Bit |
Meaning |
|---|---|
|
0...1 |
1st expansion module status |
|
2...3 |
2nd expansion module status |
|
4...5 |
3rd expansion module status |
|
6...7 |
4th expansion module status |
|
8...9 |
5th expansion module status |
|
10...11 |
6th expansion module status |
|
12...13 |
7th expansion module status |
|
14...15 |
8th expansion module status |
|
16...17 |
9th expansion module status |
|
18...19 |
10th expansion module status |
|
20...21 |
11th expansion module status |
|
22...23 |
12th expansion module status |
|
24...25 |
13th expansion module status |
|
26...27 |
14th expansion module status |
|
28...29 |
Not used |
|
30...31 |
Bus status |
Bit values for the bus status:
o0 = No fault
o1 = Configuration fault
o2 = Runtime fault
o3 = Not configured
Bit values for the module status:
o0 = No fault
o1 = Configuration fault
o2 = Runtime fault
o3 = Not configured but optional
Object 1003H: Predefined Error Field
This object stores the most recent faults, as well as their characteristics:
oThe EMCY error code is stored in the least significant word.
oAdditional Information is stored in the most significant word.
oSubindex 0 contains the number of recorded errors.
The following table provides a general overview of the object:
|
Object Attribute |
Value |
Value |
|---|---|---|
|
Sub-index |
0 |
1...10 |
|
Description |
Number of recorded errors |
Most recent error |
|
Code |
ARRAY |
|
|
Data Type |
UNSIGNED8 |
UNSIGNED32 |
|
Access |
RW |
RO |
|
PDO Allowed |
No |
|
|
Range |
0-10 |
- |
|
Default Value |
0 |
- |
This object stores the most recent faults, as well as their characteristics
|
Byte |
Value |
|---|---|
|
MSW MSB 21..31 |
Faulty module number (bus coupler = 0, 1st module = 1,..., 14th module = 14.) |
|
MSW LSB 16..23 |
Error Register 1001H |
|
LSW 0..15 |
EMCY Error Code |
When a new fault appears, the codes already present are moved into the upper level sub-indexes: the fault in sub-index 1 is moved to sub-index 2, the fault in sub-index 2 is moved to sub-index 3, etc.
The following table provides the EMCY error codes, their diagnostics and causes:
|
Error Code (EMCY-Byte 0 +1) |
Diagnostics |
Cause |
|---|---|---|
|
0x0000 |
ERROR_RESET_OR_NO_ERROR |
An error has been corrected |
|
0x0080 |
ANALOG_DISABLE |
Analog inputs interrupt disabled |
|
0x1000 |
GENERIC_ERROR |
An internal communication error occurred |
|
0x6101 |
SOFTWARE_RX_QUEUE_OVERRUN |
Receive memory capacity exceeded |
|
0x6102 |
SOFTWARE_TX_QUEUE_OVERRUN |
Transmit memory capacity exceeded |
|
0x7001 |
KPI_CONFIGURATION_TIMEOUT |
Bus coupler configuration transfer timeout |
|
0x7002 |
KPI_CONFIGURATION_ERROR |
Bus coupler configuration mismatch |
|
0x7003 |
KPI_RUNTIME_ERROR |
Bus coupler runtime error |
|
0x8110 |
MESSAGE_LOST |
Indicates that one or more CAN message has been lost |
|
0x8120 |
CAN_IN_ERROR_PASSIVE_MODE |
CAN error counter threshold is exceeded and bus coupler has entered passive mode |
|
0x8130 |
NODE_GUARD_OR_HEARTBEAT_ERROR |
The module has not received a node guard message or a heartbeat message within the configured time frame |
|
0x8140 |
BUS_OFF_RECOVERED |
The controller has recovered from a previous CAN bus off situation. |
|
0x8210 |
PDO_LENGTH |
PDO was not processed because the received data length does not match the expected one |
|
0x8250 |
RPDO_TIMEOUT |
RPDO timeout |
|
0xF001 |
SYNC_TIMEOUT |
SYNC timeout |
|
0xFF01 |
FW_UPDATE_ERROR |
An error occurred during the firmware update of bus coupler |
|
0xFF02 |
TM3_FW_UPDATE_ERROR |
An error occurred during the firmware update of expansion module |
|
0xFF03 |
ROTARY_SWITCH_CHANGED |
Rotary switch positions have been changed after power up |
|
0xFF04 |
KPI_NOT_CONFIGURED_IN_OP |
Bus coupler is not configured even though it is in ‘OPERATIONAL’ state |
Object 1005H: COB-ID SYNC Message
This object contains the synchronization message identifier.
The following table provides a general overview of the object:
|
Object Attribute |
Value |
|---|---|
|
Sub-index |
0 |
|
Description |
- |
|
Code |
VAR |
|
Data Type |
UNSIGNED32 |
|
Access |
RW |
|
PDO Allowed |
No |
|
Range |
UNSIGNED32 |
|
Default Value |
80H |
The communication parameters for the synchronization telegram are stored in this 32-bit field. The structure is shown in table below:
|
MSb |
Bit |
LSb |
||
|---|---|---|---|---|
|
31 |
30 |
29 |
28 - 11 |
10 - 0 |
|
X |
0 |
0 |
000000000000000000 |
11-Bit Identifier |
The default value is 80H, allowing the device to receive SYNC-telegrams with COB-ID 80H. The following table explains the value of individual bits:
|
Bit |
Value |
Meaning |
Comment |
|---|---|---|---|
|
31 (MSb) |
X |
- |
Unused |
|
30 |
0 |
Device does not create sync objects |
- |
|
1 |
Device creates sync objects |
Not supported |
|
|
29 |
0 |
11-Bit ID (CAN 2.0A) |
- |
|
1 |
29-Bit ID (CAN 2.0B) |
Not supported |
|
|
28-11 |
If bit 29 = 0 |
000000000000000000 |
- |
|
If bit 29 = 1 |
Bit 28-11 from 29-Bit ID |
Not supported |
|
|
10-0 (LSb) |
- |
Bit 10 - 0 of ID identifier |
- |
Object 1006H: Communication Cycle Period
This object describes the time interval between two SYNC signals. This interval must be at least 10 ms with a minimum increment of 1ms. The entry must be a double word. If unused, the value of this field is zero
The following table provides a general overview of the object:
|
Object Attribute |
Value |
|---|---|
|
Sub-index |
0 |
|
Description |
- |
|
Code |
VAR |
|
Data Type |
UNSIGNED32 |
|
Access |
RW |
|
PDO Allowed |
No |
|
Range |
UNSIGNED32 |
|
Default Value |
0 |
The following table provides an example of configured values of this object and their respective time intervals:
|
Value Type |
Decimal |
Hexadecimal |
Interval SYNC in MS |
|---|---|---|---|
|
Standard Value |
0 |
0H |
- |
|
Minimum Value |
10 000 |
0000 2710H |
10 |
|
25 000 |
0000 61A8H |
25 |
|
|
250 000 |
0003 D090H |
250 |
|
|
1 000 000 |
000F 4240H |
1 000 |
|
|
5 000 000 |
004C 4B40H |
5 000 |
|
|
Maximum Value |
10 000 000 |
0098 9680H |
10 000 |
Object 1008H: Manufacturer Device Name
This object contains the device name. Device information can be stored in ASCII string. The default setting for device identification is TM3BCCO.
The following table provides a general overview of the object:
|
Object Attribute |
Value |
|---|---|
|
Sub-index |
0 |
|
Description |
- |
|
Code |
VAR |
|
Data Type |
Visible String |
|
Access |
Const |
|
PDO Allowed |
No |
|
Range |
- |
|
Default Value |
TM3BCCO |
Object 100AH: Manufacturer Software Version
This object contains the software version of the bus coupler as an ASCII string, in the form “xx.yy.zz”.
The following table provides a general overview of the object:
|
Object Attribute |
Value |
|---|---|
|
Sub-index |
0 |
|
Description |
- |
|
Code |
VAR |
|
Data Type |
Visible String |
|
Access |
Const. |
|
PDO Allowed |
No |
|
Range |
- |
|
Default Value |
Depends on the embedded firmware |
This object contains the guard-time parameter expressed in milliseconds.
The following table provides a general overview of the object:
|
Object Attribute |
Value |
|---|---|
|
Sub-index |
0 |
|
Description |
- |
|
Code |
VAR |
|
Data Type |
UNSIGNED16 |
|
Access |
RW |
|
PDO Allowed |
No |
|
Range |
UNSIGNED16 |
|
Default Value |
0 |
This object contains the lifetime factor parameter.
The following table provides a general overview of the object:
|
Object Attribute |
Value |
|---|---|
|
Sub-index |
0 |
|
Description |
- |
|
Code |
VAR |
|
Data Type |
UNSIGNED8 |
|
Access |
RW |
|
PDO Allowed |
No |
|
Range |
UNSIGNED8 |
|
Default Value |
0 |
Lifetime is calculated as: Lifetime = Guard-time x Lifetime factor.
If the default value is set to 0, the master is not monitored (no life guarding).
|
|
|
UNINTENDED MACHINE OPERATION |
|
Set the Lifetime Factor (object 100DH) to a value no less than 2 when enabling Node Guarding. |
|
Failure to follow these instructions can result in death, serious injury, or equipment damage. |
Object 1014H: COB-ID Emergency (EMCY-COB-ID) Message
This object contains the emergency message identifier.
The following table provides a general overview of the object:
|
Object Attribute |
Value |
|---|---|
|
Sub-index |
0 |
|
Description |
- |
|
Code |
VAR |
|
Data Type |
UNSIGNED32 |
|
Access |
RW |
|
PDO Allowed |
No |
|
Range |
UNSIGNED32 |
|
Default Value |
80H+Node-ID |
The following table shows the structure of the EMCY object COB-ID:
|
Bit |
||||
|---|---|---|---|---|
|
31 (MSb) |
30 |
29 |
28 - 11 |
10 - 0 (LSb) |
|
0 |
0 |
0 |
000000000000000000 |
11-Bit Identifier |
Bit value and definition are shown in the following table:
|
Bit |
Value |
Meaning |
|---|---|---|
|
31 (MSb) |
0 |
Reserved |
|
30 |
0 |
Reserved |
|
29 |
0 |
11-Bit ID (CAN 2.0A) |
|
1 |
29-Bit ID (CAN 2.0B) - Not supported |
|
|
28-11 |
If bit 29 = 0 |
000000000000000000 |
|
If bit 29 = 1 |
Bit 28-11 from 29 bit ID - Not supported |
|
|
10-0 (LSb) |
- |
Bit 10 - 0 of ID identifier |
Object 1016H: Consumer Heartbeat Time
The consumer heartbeat time defines the expected heartbeat cycle time in milliseconds. The bus coupler can monitor heartbeat messages from one heartbeat producer device.
The following table provides a general overview of the object:
|
Object Attribute |
Value |
Value |
|---|---|---|
|
Sub-index |
0 |
1 |
|
Description |
Number of sub-indices |
Consumer heartbeat time |
|
Code |
ARRAY |
|
|
Data Type |
UNSIGNED8 |
UNSIGNED32 |
|
Access |
RO |
RW |
|
PDO Allowed |
No |
|
|
Range |
1H - 7FH |
UNSIGNED32 |
|
Default Value |
1 |
0 |
The contents of sub-index 1 is as follows:
|
Bit |
Value |
|---|---|
|
31-24 |
00000000 |
|
23-16 |
Address of monitored module |
|
15-0 |
Maximum time to receive heartbeat. |
In case of timeout without reception of heartbeat message, the bus coupler sends an EMCY message, applies fallback to the expansion modules I/Os and transitions to the state as configured in object 1029H.
Object 1017H: Producer Heartbeat Time
This object configures the bus coupler as a heartbeat producer and defines the heartbeat cycle time.
The following table provides a general overview of the object:
|
Object Attribute |
Value |
|---|---|
|
Sub-index |
0 |
|
Description |
- |
|
Code |
VAR |
|
Data Type |
UNSIGNED16 |
|
Access |
RW |
|
PDO Allowed |
No |
|
Range |
UNSIGNED16 |
|
Default Value |
0 |
When configured, the bus coupler periodically transmits a heartbeat message to one or more devices in the network. A value of 0 disables the bus coupler as a heartbeat producer.
This object provides general information about the CANopen device, including the:
ovendor ID
oproduct code
orevision number
oserial number
The following table provides a general overview of the object:
|
Object Attribute |
Value |
Value |
Value |
Value |
Value |
|---|---|---|---|---|---|
|
Sub-index |
0 |
1 |
2 |
3 |
4 |
|
Description |
Number of I/Os |
Vendor ID |
Product code |
Revision Number |
Serial Number |
|
Code |
RECORD |
RECORD |
RECORD |
RECORD |
RECORD |
|
Data Type |
UNSIGNED8 |
UNSIGNED32 |
UNSIGNED32 |
UNSIGNED32 |
UNSIGNED32 |
|
Access |
RO |
RO |
RO |
RO |
RO |
|
PDO Allowed |
No |
No |
No |
No |
No |
|
Range |
1H - 4H |
UNSIGNED32 |
UNSIGNED32 |
UNSIGNED32 |
UNSIGNED32 |
|
Default Value |
4 |
0x0500005a |
811044 |
- |
- |
The Revision Number, when converted to hexadecimal form, represents the firmware version in "xx.yy.zz" format. For example, if the integer value read back from Sub-index 3 converts to 0x010015 (hexadecimal form), this represents firmware version v1.0.15.
This object provides a list of modules connected to the bus coupler.
The following table provides a general overview of the object:
|
Object Attribute |
Value |
Value |
Value |
Value |
|---|---|---|---|---|
|
Sub-index |
0 |
1 |
- |
N |
|
Description |
Number of connected expansion modules |
First module Product code |
- |
N module code |
|
Code |
ARRAY |
|||
|
Data Type |
UNSIGNED8 |
UNSIGNED16 |
||
|
Access |
RO |
|||
|
PDO Allowed |
No |
|||
|
Range |
0 - 14 |
UNSIGNED16 |
- |
UNSIGNED16 |
|
Default Value |
- |
- |
- |
- |
When there is no extension module, this object still exists with a value of 14 to represent the maximum number of expansion modules supported. However, the values of other sub-indices are 0.
This object is used to define the NMT state of the bus coupler if an error is detected. By default, the bus coupler enters ‘PRE-OPERATIONAL’ in an error event
Device failures include the following errors:
oBus-off state of the CAN interface
oLife guarding or heartbeat event has occurred
oSync timeout has occurred
oPDO Event Time error has occurred
The following table provides a general overview of the object:
|
Object Attribute |
Value |
Value |
|---|---|---|
|
Sub-index |
0 |
1 |
|
Description |
Number of sub-indices |
CANopen state after detection of communication error |
|
Code |
ARRAY |
|
|
Data Type |
UNSIGNED8 |
|
|
Access |
RO |
RW |
|
PDO Allowed |
No |
|
|
Range |
UNSIGNED8 |
|
|
Default Value |
1 |
0 |
The following table explains the values of sub-index 1:
|
Value |
Definition |
|---|---|
|
00h |
Change to NMT state Pre-Operational (only if currently in NMT state Operational) |
|
01h |
No change of the NMT state |
|
02h |
Change to NMT state Stopped |
|
03h-FFh |
Reserved |
Object 1200H: Server SDO Parameter
The object contains the SDO parameters of the bus coupler, where the bus coupler acts as a server.
The following table provides a general overview of the object:
|
Object Attribute |
Value |
Value |
Value |
|---|---|---|---|
|
Sub-index |
0 |
1 |
2 |
|
Description |
Number of entries |
COB-ID Client to Server |
COB-ID Server to Client |
|
Code |
RECORD |
||
|
Data Type |
UNSIGNED8 |
UNSIGNED32 |
UNSIGNED32 |
|
Access |
RO |
||
|
PDO Allowed |
No |
||
|
Range |
2 |
UNSIGNED32 |
UNSIGNED32 |
|
Default Value |
2 |
600H + Node-ID |
580H + Node ID |
The COB-ID structure is shown in table below:
|
MSb |
Bit |
LSb |
||
|---|---|---|---|---|
|
31 |
30 |
29 |
28 - 11 |
10 - 0 |
|
0 |
0 |
0 |
000000000000000000 |
11-Bit Identifier |
The following table explains the value of individual bits:
|
Bit |
Value |
Meaning |
|---|---|---|
|
31 (MSb) |
0 |
SDO exists / is valid |
|
1 |
SDO does not exist / is invalid |
|
|
30 |
0 |
Reserved |
|
29 |
0 |
11-Bit ID (CAN 2.0A) |
|
1 |
29-Bit ID (CAN 2.0B) - Not supported |
|
|
28-11 |
If bit 29 = 0 |
000000000000000000 |
|
If bit 29 = 1 |
Bit 28-11 from 29-Bit COB-ID - Not supported |
|
|
10-0 (LSb) |
- |
Bit 10 - 0 of COB-ID identifier |
Object 1201H: Server SDO Parameter
The object contains a second server SDO parameter object.
The following table provides a general overview of the object:
|
Object Attribute |
Value |
Value |
Value |
Value |
|---|---|---|---|---|
|
Sub-index |
0 |
1 |
2 |
3 |
|
Description |
Number of entries |
COB-ID Client to Server |
COB-ID Server to Client |
Node-ID of the Client. |
|
Code |
RECORD |
|||
|
Data Type |
UNSIGNED8 |
UNSIGNED32 |
||
|
Access |
RO |
RW |
||
|
PDO Allowed |
No |
|||
|
Range |
3 |
UNSIGNED32 |
||
|
Default Value |
3 |
User defined |
User defined |
- |
Object 1400H to 141CH: Receive PDO Communication Parameter
Each object contains the PDO communication parameters for the respective receive PDOs supported by the bus coupler.
The following table provides a general overview of the object:
|
Object Attribute |
Value |
Value |
Value |
Value |
Value |
Value |
Value |
|---|---|---|---|---|---|---|---|
|
Sub-index |
0 |
1 |
2 |
3 |
4 |
5 |
6 |
|
Description |
Number of entries |
COB-ID |
Transmission type |
Not applicable |
Event Time |
Not applicable |
|
|
Code RECORD |
RECORD |
RECORD |
|||||
|
Data Type |
UNSIGNED8 |
UNSIGNED32 |
UNSIGNED8 |
UNSIGNED16 |
|||
|
Access |
RO |
RW |
RW |
RW |
|||
|
PDO Allowed |
No |
No |
|||||
|
Range |
5 |
UNSIGNED32 |
UNSIGNED8 |
UNSIGNED16 |
|||
|
Default Value |
5 |
- |
255 |
0 |
|||
The COB-ID structure is shown in table below:
|
MSb |
Bit |
LSb |
||
|---|---|---|---|---|
|
31 |
30 |
29 |
28 - 11 |
10 - 0 |
|
0 |
X |
0 |
000000000000000000 |
11-Bit Identifier |
The following table explains the value of individual bits:
|
Bit |
Value |
Meaning |
|---|---|---|
|
31 (MSb) |
0 |
PDO exists / is valid |
|
1 |
PDO does not exist / is invalid |
|
|
30 |
X |
Unused |
|
29 |
0 |
11-Bit ID (CAN 2.0A) |
|
1 |
29-Bit ID (CAN 2.0B) |
|
|
28-11 |
If bit 29 = 0 |
000000000000000000 |
|
If bit 29 = 1 |
Bit 28-11 from 29-Bit COB-ID - Not supported |
|
|
10-0 (LSb) |
- |
Bit 10 - 0 of COB-ID identifier |
Allowed transmission type:
|
- |
Cyclic |
Acyclic |
Synchronous |
Asynchronous |
Comments |
|---|---|---|---|---|---|
|
0-240 |
✓ |
- |
✓ |
- |
Data from PDO is taken into account on Sync message |
|
255 |
- |
- |
- |
✓ |
Data from PDO is taken into account immediately |
Sub-index 05h contains the Event Time. The value is defined as multiple of 1 ms. The value of 0 shall disable the Event Time. The RPDO may use the time for deadline monitoring. The deadline monitoring is activated within the next reception of an RPDO after configuring the Event Time. A timeout results in an indication to the local application.
Object 1600H to 161CH: Receive PDO Mapping Parameter
Each object describes the mapped objects that is transported by the respective PDOs to the bus coupler.
The following table provides a general overview of the object:
|
Object Attribute |
Value |
Value |
Value |
Value |
Value |
Value |
Value |
|---|---|---|---|---|---|---|---|
|
Sub-index |
0 |
1 |
2 |
3 |
4 |
5 |
n |
|
Description |
Number of entries |
1st object in PDO |
2nd object in PDO |
3rd object in PDO |
4th object in PDO |
5th object in PDO |
Nth object in PDO |
|
Code |
RECORD |
||||||
|
Data Type |
UNSIGNED8 |
UNSIGNED32 |
|||||
|
Access |
RW |
||||||
|
PDO Allowed |
No |
||||||
|
Range |
8 |
UNSIGNED32 |
|||||
|
Default value 1600h 1601h 1602h 1603h Others |
1 1 1 1 0 |
6200 01 08 H 6411 01 10 H 6411 05 10 H 6411 09 10 H 0 |
0 6411 02 10 H 6411 06 10 H 6411 0A 10 H 0 |
0 6411 03 10 H 6411 07 10 H 6411 0B 10 H 0 |
0 6411 04 10 H 6411 08 10 H 6411 0C 10 H 0 |
0 |
0 |
Data Field Structure
Each data object to be transported is represented as follows:
|
Bits |
31 to 16 |
15 to 8 |
7 to 0 |
|---|---|---|---|
|
Data |
Index number of object to be transported |
Sub-index number of object to be transported |
Length of object to be transported (in bits) |
|
Example |
6200H |
01H |
08H |
Object 1800H to 1837H: Transmit PDO Communication Parameter
Each object contains the PDO communication parameters for the respective transmit PDOs supported by the bus coupler.
The following table provides a general overview of the object:
|
Object Attribute |
Value |
Value |
Value |
Value |
Value |
Value |
|---|---|---|---|---|---|---|
|
Sub-index |
0 |
1 |
2 |
3 |
4 |
5 |
|
Description |
Number of entries |
COB-ID |
Transmission type |
Inhibit time |
Reserved |
Event Time |
|
Code |
RECORD |
Not applicable |
RECORD |
|||
|
Data Type |
UNSIGNED8 |
UNSIGNED32 |
UNSIGNED8 |
UNSIGNED16 |
UNSIGNED16 |
|
|
Access |
RO |
RW |
RW |
|||
|
PDO Allowed |
No |
No |
||||
|
Range |
5 |
UNSIGNED32 |
UNSIGNED8 |
UNSIGNED16 |
UNSIGNED16 |
|
|
Default Value |
5 |
- |
255 |
0 |
0 |
|
The COB-ID structure is shown in table below:
|
MSb |
Bit |
LSb |
||
|---|---|---|---|---|
|
31 |
30 |
29 |
28 - 11 |
10 - 0 |
|
0 |
0 |
0 |
000000000000000000 |
11-Bit Identifier |
The following table explains the value of individual bits:
|
Bit |
Value |
Meaning |
|---|---|---|
|
31 (MSb) |
0 |
PDO exists / is valid |
|
1 |
PDO does not exist / is invalid |
|
|
30 |
0 |
RTR allowed on this PDO |
|
1 |
No RTR allowed on this PDO - Not supported |
|
|
29 |
0 |
11-Bit ID (CAN 2.0A) |
|
1 |
29-Bit ID (CAN 2.0B) - Not supported |
|
|
28-11 |
If bit 29 = 0 |
000000000000000000 |
|
If bit 29 = 1 |
Bit 28-11 from 29-Bit COB-ID - Not supported |
|
|
10-0 (LSb) |
- |
Bit 10 - 0 of COB-ID identifier |
Allowed transmission type:
|
value |
Cyclic |
Acyclic |
Synchronous |
Asynchronous |
Comments |
|---|---|---|---|---|---|
|
0 |
- |
✓ |
✓ |
- |
send PDO next Sync message following event |
|
1-240 |
✓ |
- |
✓ |
- |
send PDO every X Sync message |
|
255 |
- |
- |
- |
✓ |
Send PDO on event |
For a digital input, an event is generated when the input value changes.
For an analog input, depending on the configuration of object 6421H, the following three scenarios can activate an event:
othe input value exceeds an upper threshold value
othe input value falls below a lower threshold value
othe input value changes more than configured delta value
Sub-index 03h contains the inhibit time. The time is the minimum interval between successive PDO transmission if the transmission type is set to 255. The value is defined in multiples of 100 μs. The value of 0 disables the inhibit time.
Sub-index 04h is reserved.
Sub-index 05h contains the Event Time. The time is the maximum interval for PDO transmission if the transmission type is set to 255. The value is defined in multiples of 1 ms. The value of 0 disables the Event Time.
Object 1A00H to 1A37: Transmit PDO Mapping Parameter
Each object describes the mapped objects that is transmitted by the respective transmit PDOs of the bus coupler.
The following table provides a general overview of the object:
|
Object Attribute |
Value |
Value |
Value |
Value |
Value |
Value |
Value |
|---|---|---|---|---|---|---|---|
|
Sub-index |
0 |
1 |
2 |
3 |
4 |
5 |
n |
|
Description |
Number of entries |
1st object in PDO |
2nd object in PDO |
3rd object in PDO |
4th object in PDO |
5th object in PDO |
Nth object in PDO |
|
Code |
RECORD |
||||||
|
Data Type |
UNSIGNED8 |
UNSIGNED32 |
|||||
|
Access |
RW |
||||||
|
PDO Allowed |
No |
||||||
|
Range |
8 |
UNSIGNED32 |
|||||
|
Default value 1A00h 1A01h 1A02h 1A03h Others |
1 4 4 4 0 |
6000 0108H 6401 0110H 6401 0510H 6401 0910H 0 |
0 6401 0210H 6401 0610H 6401 0A10H 0 |
0 6401 0310H 6401 0710H 6401 0B10H 0 |
0 6401 0410H 6401 0810H 6401 0C10H 0 |
0 0 0 0 0 |
0 |
Data Field Structure
Each data object to be transported is represented as follows:
|
Bits |
31 to 16 |
15 to 8 |
7 to 0 |
|---|---|---|---|
|
Data |
Index number of object to be transported |
Sub-index number of object to be transported |
Length of object to be transported (in bits) |
|
Example |
6000H |
01H |
08H |
