Kostal inveor, Operating Manual

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28 Operating manual for CANopen fieldbus | DOC01738251-0001 | 2016-12 | V2.00 EN
4. CANopen in the INVEOR
The INVEOR drive controllers with CANopen support the CANopen specification in accordance
with CiA DS-301. The device profile DS-402 (electrical drives) is not supported
Read / write access to parameters (see chapter 4.1.7. ) is only possible with
SDO access.
Read / write access to process values (see chapter 4.1.3 / 4.1.4 ) is possible with both
SDO and PDO access.
As well as dynamic PDO mapping, timeout monitoring with node guarding or heartbeat is possible.
4.1 EDS file object directory
The available objects of the INVEOR are listed below.
These correspond to the entries in the EDS file.
4.1.1 Communication objects (0x1000 – 0x1200)
Index
[Hex]
Sub-
index
Object Unit Access Type Description
1000 Device Type RO U32 Device type
1001 Error Register RO U8
1005 COB-ID SYNC RW U32 Identifier for SYNC
messages (default 0x80)
1007 SYNC Window
Length
µs RW U32 Time window for
synchronous PDOs
1008 Device Name RO String Device name
1009 HW Version RO String
100A SW Version RO String
100C Guard Time ms RW U16 Node guarding time
(0:inactive)
100D Life time factor RW U16 Life time = life time factor
* guard time
1014 COB-ID Emergency RW U32 Identifier Emergency
80h+NodeID