CANopen
Identifier determination (COB-ID) Communication Object
Page 20
© Fritz Kübler GmbH, Zähl-und Sensortechnik
1A00
ARRAY
1st transmit PDO Mapping
Par.
O
PDOMappin
g
1A02
ARRAY
2nd transmit PDO Mapping
Par.
O
PDOMappin
g
Index:
The Index column describes the position of the input in the Object
Directory
Object:
The Object column shows a pre-defined Object Name for the input
Attribute:
The Attribute column shows the access possibilities to the input
rw = read and write
ro = read only
const = constant/ read only
Type:
The Type column shows a pre-defined Object Name for the input
M/O:
The M/O column indicates if an input is Mandatory or Optional.
5.3
CAN
open
Object Directory DS 406
The following table shows an overview of the supported Object Directory
inputs defined by the Device Profile for Encoder CiA-DS-406.
INDEX
(hex)
Object
Symb.
Attr Name
M/O
C2
TYPE
Parameters
6000
VAR
rw
Operating parameters
M
unsigned16
6001
VAR
rw
manufacturer scaling (MUpR)
M
unsigned32
6002
VAR
rw
manufacturer measuring
range
M
unsigned32
6003
VAR
rw
manufacturer preset value
M
unsigned32
6004
VAR
ro
position value
M
unsigned32
6100
VAR
ro
Transmission Rate
O
unsigned16
6101
VAR
ro
Node Number
O
unsigned16
6200
VAR
rw
Cyclic Timer
M
unsigned16
Diagnostics
6500
VAR
ro
Operating Status
M
unsigned16
6501
VAR
ro
Measuring Step
m
unsigned32
6502
VAR
ro
Number of revolutions
m
unsigned16
6503
VAR
ro
Alarms
m
unsigned16
6504
VAR
ro
Supported alarms
m
unsigned16
6505
VAR
ro
Warnings
m
unsigned16
6506
VAR
ro
Supported warnings
m
unsigned16
6507
VAR
ro
Profile version
m
unsigned32
6508
VAR
ro
Operating time
m
unsigned32
