Instruction Manual
SBI-COP/DN-AGy Card •
Eng
lish
Object
COB-ID
Associated element of Object
Dictionary
NMT
0
-
SYNC
128
1005hex
Emergency
128+Node-ID = 129…255
1014hex
PDO1 (tx)
384+Node-ID = 385…511
1800hex
PDO1 (rx)
512+Node-ID = 513…639
1400hex
PDO2 (tx)
640+Node-ID = 641…767
1801hex
PDO2 (rx)
768+Node-ID = 769…895
1401hex
SDO (tx)
1408+Node-ID = 1409…1535
1200hex
SDO (rx)
1536+Node-ID = 1537…1663
1200hex
Nodeguard
1792+Node-ID = 1793…1919
-
tab05g
Table 3.1.4: Communication Objects
Node Guarding has no priority because it is a special NMT service; it has
the Message-ID because it is not a Broadcast service.
3.1.5 Object Dictionary Elements
The object dictionary can be accessed only via a CANopen master. Such
elements, therefore, can not be modified via the configurator or the keypad.
They can not even be permanently saved in the drive flash memory.
The following table lists the used communication objects:
Index
Name
Type
Value
1000hex Device Type
Unsigned32 20191hex (Device profile = 401,
Additional info = 32)
1001hex Error Register
Unsigned8
Errors status as defined by protocol
1005hex COB-ID SYNC-Message
Unsigned32 128
1006hex Communication Cycle Period
Unsigned32 SYNC period (ms)
1008hex Manufacterer Device Name
Vis-String
1009hex Manufacterer Hardware Version
Vis-String
100Ahex Manufacterer Software Version
Vis-String
100Chex Guard Time
Unsigned16 Guarding period (ms). Default = 0
100Dhex Life Time Factor
Unsigned8
Moltiplier factor for Life Guarding
calculation. Default = 3
1014hex COB-ID Emergency Message
Unsigned32 See below
1018hex Identity Object
Record
See below
1200hex Server SDO Parameter
Record
See below
1400hex 1st Receive PDO Communication
Parameter
Record
See below
1401hex 2nd Receive PDO Communication
Parameter
Record
See below
1800hex 1st Transmit PDO Communication
Parameter
Record
See below
1801hex 2nd Transmit PDO Communication
Parameter
Record
See below
tab06g
Table 3.1.5: Objects used by the CANopen communication profile
3.1.6 Receive PDO Communication
The structure of the PDO Communication Parameter (index 1400h, 1401h)
is:
