Technical Manual N5 (CANopen)
7 Special functions
Only entire collections of objects (referred to in the following as categories) can be saved together;
individual objects cannot be saved.
An object can be assigned one of the following categories:
•
Communication: Parameters related to external interfaces, such as PDO configuration etc.
•
Application: Parameters related to operating modes.
•
Customer: Parameters that are written and read by the customer/user only and are ignored by the
controller firmware.
•
Drive: Parameters related to the motor and the sensors (BLDC/Stepper, Closed/Open Loop…).
Some are set and saved by auto setup.
•
Tuning: Parameters related to motor and encoder that are set either by auto setup or that can be
found in the data sheets, e.g., pole pairs and maximum current.
If an object is not assigned one of these categories, it cannot be saved, e.g., statusword and all objects
whose value is dependent on the current state of the controller.
The objects in each category are listed below. In chapter Description of the object dictionary, the
corresponding category for each object is also specified.
7.4.2 Category: communication
•
h
: COB-ID Sync
•
h
: Synchronous Window Length
•
: Guard Time
•
: Live Time Factor
•
h
: COB-ID EMCY
•
h
: Producer Heartbeat Time
•
h
: Error Behavior
•
h
: Receive PDO 1 Communication Parameter
•
h
: Receive PDO 2 Communication Parameter
•
h
: Receive PDO 3 Communication Parameter
•
h
: Receive PDO 4 Communication Parameter
•
h
: Receive PDO 5 Communication Parameter
•
h
: Receive PDO 6 Communication Parameter
•
h
: Receive PDO 7 Communication Parameter
•
h
: Receive PDO 8 Communication Parameter
•
h
: Receive PDO 1 Mapping Parameter
•
h
: Receive PDO 2 Mapping Parameter
•
h
: Receive PDO 3 Mapping Parameter
•
h
: Receive PDO 4 Mapping Parameter
•
h
: Receive PDO 5 Mapping Parameter
•
h
: Receive PDO 6 Mapping Parameter
•
h
: Receive PDO 7 Mapping Parameter
•
h
: Receive PDO 8 Mapping Parameter
•
h
: Transmit PDO 1 Communication Parameter
•
h
: Transmit PDO 2 Communication Parameter
•
h
: Transmit PDO 3 Communication Parameter
•
h
: Transmit PDO 4 Communication Parameter
•
h
: Transmit PDO 5 Communication Parameter
•
h
: Transmit PDO 6 Communication Parameter
•
h
: Transmit PDO 7 Communication Parameter
•
h
: Transmit PDO 8 Communication Parameter
•
: Transmit PDO 1 Mapping Parameter
•
: Transmit PDO 2 Mapping Parameter
•
: Transmit PDO 3 Mapping Parameter
Version: 2.0.1 / FIR-v1650
98
