HMS AB7307, User Manual

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CANopen Supported Objects 34
Doc.Id. HMSI-168-91
Anybus X-gateway CANopen - PROFINET
Doc.Rev. 2.10
7.2.2 Configuration Manager
DS302 part 3: Configuration and program download
Network Configuration Objects
Check Configuration
The Configuration Manager (CMT) compares signature and configuration with the value from the DCF
to decide if a reconfiguration is to be performed or not. The comparison values are stored by the Con-
figuration Manager in these objects:
1800h
...
187Fh Transmit PDO
parameter 00h Largest subindex supported U8 RO 05h
01h COB-ID used by PDO U32 RW -
02h Transmission type U8 RW See “TPDO Transmission
Types” on page 30
03h Inhibit time U16 RW In steps of 0.1 ms
05h Event Timer (ms) U16 RW -
1A00h
...
1A7Fh Transmit PDO
mapping 00h No. of mapped application
objects in PDO U8 RW -
01h Mapped object #1 U32 RW -
02h Mapped object #2 U32 RW -
03h Mapped object #3 U32 RW -
04h Mapped object #4 U32 RW -
05h Mapped object #5 U32 RW -
06h Mapped object #6 U32 RW -
07h Mapped object #7 U32 RW -
08h Mapped object #8 U32 RW -
a. Depending on the method of writing to this object, e.g. using a CANopen dongle, the byte order may have to be
changed to adapt to the way data is transported on CANopen.
Index Object Name Subindex Description Type Access
1F22h Concise DCF - The concise/compressed DCF files informa-
tion is stored in this object. Domain RW
1F25h Configure
Slave
0 - 128 Subindex 0 is ignored.
Subindex i (i = 1 - 127): Request reconfigu-
ration of slave with Node ID equal to subin-
dex i.
Subindex 128: Request to reconfigure all
slaves.
U32
a
a. To configure the slave with Node ID i, write “conf” = 63 6F 6E 66h to this object (1F25h, subindex i). If this fails,
an emergency code is produced (6161h, see “CANopen Emergency Codes” on page 48).
Sub 0: RO
Sub 1 - 128: WO
Index Object Name Subindex Description Type Access
1F26h Expected
Configuration
Date 0 - 127 The date that the Configuration Manager expects to find
when comparing signature and configuration. UNIT32 RW
1F27h Expected
Configuration
Time 0 - 127 The time that the Configuration Manager expects to find
when comparing signature and configuration. UINT32 RW
Index Object Name Subindex Description Type Access Notes