HMS AB7307, User Manual

Page: 37 / 55

Doc.Id. HMSI-168-91
Anybus X-gateway CANopen - PROFINET
Doc.Rev. 2.10
Chapter 7
7. CANopen Supported Objects
The following sections describe the CANopen objects (secondary CANopen network), according to
DS301 and DS302, implemented within the module and described in the EDS file.
7.1 Static Data Types
The Static Data Types are implemented according to the DS321 specification from CiA (CAN in Auto-
mation).
7.2 Communication Profile Area
7.2.1 DS301 Communication Profile Objects
The table below shows the objects according to CANopen specification DS301 rev. 4.2.
Index Object Name Subindex Description Type Access Notes
1000h Device Type 00h Type of device U32 RO 0000 0000h (No profile)
1001h Error register 00h Error register, connected to
the EMCY object. Bit 0 indi-
cates a generic error U8 RO -
1003h Predefined
error field
00h Number of errors. Writing a 0
to this subindex clears the
error list. U8 RW See “CANopen Emergency
Codes” on page 48 for emer-
gency error codes.
01h...10h List of errors. Most recent
error at top of list. U32 RO
1005h COB-ID Sync 00h ID of the sync message U32 RW -
1006h Communica-
tion Cycle
Period
00h Communication cycle period U32 RW Only available if SYNC support
is enabled
1007h Synchronous
Window Length
00h Synchronous Window Length U32 RW Only available if SYNC support
is enabled
1008h Manufacturer
device name
00h The name of the CANopen
module Visible
string RO “Anybus X-gateway CANopen”
1009h Manufacturer
hardware ver-
sion
00h Manufacturer hardware ver-
sion Visible
string RO Current hardware revision
100Ah Manufacturer
software ver-
sion
00h Manufacturer software ver-
sion Visible
string RO Set by HMS
100Ch Guard time 00h Used together with “Life time
factor” to decide the node life-
time in ms U16 RW 0000h (default)
100Dh Life time factor 00h If the node has not been
guarded within its lifetime
(“Life time factor”*”Guard
time”), an error event is
logged and a remote node
error is indicated U8 RW 00h (default)