9.7
Object directory
The object directory contains all data objects which can be accessed from outside and
which have an impact on communication, application and state machines. It is divided
into three parts:
■
Communication-specific part (index: 0x1000 – 0x1FFF)
■
Manufacturer-specific part (index: 0x2000 – 0x5FFF)
■
Profile-specific part (index: 0x6000 – 0x9FFF)
The parameters it contains can be read and written with the standard SDO based on
index and subindex.
The following sections describe all parameters in the object directory of an inclination
sensor including index, subindex, data type, access right and default value (factory set‐
ting). The Storage column indicates whether a parameter can be saved in the internal
permanent memory (write save signature to OD index 1010h/01h).
9.7.1
Communication parameters (to CiA DS-301)
Table 36: Communication parameters in the object directory
Index
Subindex Parameter
Data type
Access Default value Storage
1000h
0
Device type (device profile 410)
UNS32
ro
1019Ah/
2019Ah
1001h
0
Error register
UNS8
ro
0
1002h
0
Manufacturer status register
UNS32
ro
0
1003h
Predefined error field
0
Number of error entries
UNS32
rw
0
1..5
Error code (oldest error assigned to highest
index)
UNS32
ro
0
1005h
0
COB ID sync message
UNS32
rw
80h
1008h
0
Device name
VSTR
const
dep. on type
100Ah
0
Software version (“Vxx.yy”)
VSTR
const
dep. on type
100Ch
0
Guard time (multiple of 1 ms)
UNS16
rw
0
x
100Dh
0
Life-time factor
UNS8
rw
0
x
1010h
Save parameters (signature: 's','a','v','e' - 65766173h in subindex 1...4)
0
Highest subindex supported
UNS32
ro
4
1
Save all parameters (OD: 0x1000-0x9FFF)
UNS32
rw
1
2
Save communication parameters
(OD: 0x1000-0x1FFF)
UNS32
rw
1
3
Save application parameters
(OD: 0x6000-0x9FFF)
UNS32
rw
1
4
Save manufacturer parameters
(OD: 0x2000-0x5FFF)
UNS32
rw
1
1011h
Restore default parameters (signature: 'l','o','a','d' - 64616F6Ch in subindex 1...4)
0
Highest subindex supported
UNS32
ro
4
1
Restore all parameters (OD: 0x1000-0x9FFF)
UNS32
rw
1
2
Restore communication parameters
(OD: 0x1000-0x1FFF)
UNS32
rw
1
3
Restore application parameters
(OD: 0x6000-0x9FFF)
UNS32
rw
1
4
Restore manufacturer parameters
(OD: 0x2000-0x5FFF)
UNS32
rw
1
9
CANOPEN INTERFACE
32
OPERATING INSTRUCTIONS
| TMS/TMM88, TMS/TMM61
8019054/14IT/2019-06-27
| SICK
Subject to change without notice