Curtis 1356, Manual

Page: 30 / 58

26 Curtis 1356/1356P CAN Expansion Module Manual,
Rev. A
TYPES OF SDO OBJECTS
Three types of SDO objects are described in the following pages: Communications
Profile Objects, Programmable Parameter Objects, and Monitor Parameter Objects.
COMMUNICATION PROFILE OBJECTS
The Communication Profile Objects are shown below in Table 2.
5 — SDO: Communication Profile Objects
Table 2 Communication Profile Object Dictionary
range
name access index sub
-
index can value description
Device Type RO 0x1000 0x00 0x00000000 Predefined type of CAN module (I/O).
Error Register
RO 0x1001 0x00 0 or 1
= 0 if there are no errors
= 1 if there is an error
Manufacturer’s Status
RO 0x1002 0x00 2 bytes
The value of the Status Register.
Register 1 See Table 2a for more details.
RW 0x00 0x10
Length of this object. Clear fault log
Fault Log by writing 0 into this address.
(pre-defined error
0x1003
Contains an array of 16 fault code
field)
RO 0x01-0x10 4 bytes and time stamps as reported by the
Emergency Message.
Node ID of this 1356 /1356P. This
Object is not part of the CANopen
Node ID
RW 0x100B 0x00 0x01 – 0x7F mandatory dictionary. Must cycle
power or send an NMT Reset
1356 /1356P or NMT Reset CAN
for new ID to take full effect.
1356 /1356P supports the mandatory
Store Parameters RW 0x1010 0x00 4 bytes Save All Parameters sub-index. See
Table 2b for more details.
Restore Default
RW 0x1011 0x00 4 bytes
Controls normal, factory, or backup
Parameters restore. See Table 2c for more details.
0x00000080
11-bit Identifier of the Emergency
Emergency COB ID RO 0x1014 0x00 –0x000000FF Message. Only the lowest 11 bits are
valid. All other bits must be 0.
Sets the minimum time that must
0 – 1000 ms elapse before another Emergency
Emergency Rate RW 0x1015 0x00 0 – 1000 Message can be sent by the
in 4ms steps 1356 /1356P. A setting of 0 disables
the Emergency Message.
0 – 1000 ms Sets the cyclic repetition rate of the
Heartbeat Rate RW 0x1017 0x00 0 – 1000 Heartbeat Message.
in 4ms steps A setting of 0 disables the Heartbeat.