HMS Anybus X-gateway CANopen, User Manual

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CANopen Object Implementation 45 (60)
Index Object Name Subindex Description
Type Access Notes
1011h Restore Parameters 00h Largest subindex supported U8 RO 01h
01h Restore all parameters U32 RW To restore the default values
of a configuration, write
“load” = 6C 6F 61 64h to this
object.
3
1014h COB-ID EMCY 00h Defines the COB-ID of the
Emergency Object U32 RO
1016h Consumer
Heartbeat Time 00h Largest subindex supported U8 RO 7Fh
01h - 80h The consumer heartbeat time
defines the expected heartbeat
cycle time and has to be higher
than the corresponding
producer heartbeat time.
Monitoring starts after the
reception of the first heartbeat.
Not used if 0 U32 RW Heartbeat Time.
Bits 31–24: reserved
Bits 23–16: NodeID
Bits 15–0: Heartbeat Time
Value must be a multiple of 1
ms.
Up to 127 nodes can be
monitored.
1017h Producer Heartbeat
Time 00h Defines the cycle time of the
heartbeat. Not used if 0 U16 RW The time must be at least 10
ms and a multiple of 1 ms
1018h Identity object 00h Number of entries U8 RO 04h
01h Vendor ID
U32 RO
1Bh (HMS Industrial
Networks)
02h Product Code
U32 RO
18h (Anybus X-gateway
CANopen)
03h Revision Number
U32 RO
Current software revision
04h Serial Number
U32 RO
HMS serial number
1029h Error behavior
object 00h Number of entries U8 RO
01h Communication error U8 RO 00h: Change to
Preoperational if currently in
NMT state Operational
02h Profile or manufacturer specific
error U8 RO 00h: Change to
Preoperational if currently in
NMT state Operational
1400h
...
147Fh Receive PDO
parameter 00h Largest subindex supported U8 RO 02h
01h COB-ID used by PDO
U32 RW
-
02h Transmission type U8 RW See PDO Functionality, p. 38
1600h
...
167Fh Receive 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
-
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 PDO Functionality, p. 38
03h Inhibit time U16 RW In steps of 0.1 ms
05h Event Timer (ms)
U16 RW
-
Anybus ® X-gateway ™ CANopen ® PROFINET ® IRT (2.32) User Manual
SCM-1202-029 1.2 en-US
3. The byte order may have to be changed depending on the method of writing to this object.