SICK GLS100, Operating Instructions Manual

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8 Operation
8.1 Operation via CANopen
CANopen object directory
This chapter contains information on integration of the sensor using CANopen.
All sensor functions can be accessed via the CANopen interface. All settings can be
configured in this interface. The EDS file can also be found at:
b
www.sick.com/1114008
b
www.sick.com/1116319
8.1.1 Object directory
This section only describes the objects that do not have a fixed definition in the CANopen standard. Default values
are listed only for parameters that can be modified by the user.
Index Subindex R/W Object name Default
value
Type PDO mapbar Description
0x1000 - RO Device type 0x000000
00 UINT32 No device profile supported
0x1001 - RO Error register 0x00 UINT8
0x1005 - R/W COB ID SYNC 0x000000
80 UINT32
0x1008 - RO Manufacturer
device name STRING GLSXXXX
0x1009 - RO Manufacturer
hardware rev STRING Hardware version, sensor
0x100A - RO Manufacturer
software rev STRING Firmware version, sensor
0x100C - R/W Guard time 0x0000 UINT16
0x100D - R/W Life time 0x00 UINT8
0x1014 - R/W COB-ID EMCY 0x000000
80 UINT32
0x1015 - R/W Inhibit Time
Emergency
0x0000 UINT16
0x1016 Heartbeat Con‐
sumer Entries
1 R/W Consumer
Heartbeat Time
1
0x000000
00 UINT32
2 R/W Consumer
Heartbeat Time
2
0x000000
00 UINT32
0x1017 - R/W Heart Beat
Time
0x0000 UINT16
0x1018 RO Identity object UINT8
1 RO Vendor Id 0x010000
56 UINT32 0x01000056 (SICK AG)
2 RO Product code 0x000010
06 UINT32
3 RO Revision num‐
ber 0x000100
00 UINT32 Firmware version
8
OPERATION
30 O P E R A T I N G I N S T R U C T I O N S | GLS100 8026282/2021-05-26 | SICK
Subject to change without notice