SICK TMM61 Series, Operating Instructions Manual

Page: 33 / 44

Index Subindex Parameter Data type Access Default value Storage
1014h 0 COB ID emergency message UNS32 ro 80h + node
ID
1015h 0 Inhibit time between two EMCY messages (multi‐
ple of 100 µs) UNS16 rw 0 x
1017h 0 Heartbeat rate time (multiple of 1 ms, 0 deacti‐
vated) UNS16 rw 0 x
1018h Identity object
0 Highest subindex supported UNS8 ro 4
1 Vendor ID (SICK AG ident number) UNS32 ro 01000056h
2 Product code UNS32 ro {dep. on
type}
3 Revision number UNS32 ro {dep. on
type}
4 Serial number UNS32 ro {dep. on
type}
1200h Server SDO1 parameters
0 Highest subindex supported UNS8 ro 2
1 COB ID client > server UNS32 ro 600h + node
ID
2 COB ID server > client UNS32 ro 580h + node
ID
1800h Transmit PDO 1 communication parameters
0 Highest subindex supported UNS8 ro 5
1 COB-ID UNS32 ro 180h + node
ID
2 Transmission type (synchronous / asynchronous
manufacturer-specific) UNS8 rw 1 x
3 Inhibit time between two Transmit PDO mes‐
sages (multiple of 100 µs) UNS16 rw 0 x
4 Compatibility entry UNS8 rw 0 x
5 Event Timer (multiple of 1 ms, 0 deactivated) UNS16 rw 0 x
1801h Transmit PDO2 communication parameters (TMS/TMM88D only)
0 Highest subindex supported UNS8 ro 5
1 COB-ID UNS32 ro 280h + node
ID
x
2 Transmission type (synchronous / asynchronous
manufacturer-specific) UNS8 rw 1 x
3 Inhibit time between two TPDO messages (multi‐
ple of 100 µs) UNS16 rw 0 x
4 Compatibility entry UNS8 rw 0 x
5 Event timer (multiple of 1 ms, 0 deactivated) UNS16 rw 0 x
1A00h Transmit PDO 1 mapping parameters
0 Highest subindex supported UNS8 ro dep. on type
1 Mapping entry 1, both types: TMS / TMM UNS32 rw 0x60100010 x
2 Mapping entry 2, type: TMS / TMM UNS32 rw 0 /
0x60200010
x
3 Mapping entry 3 UNS32 rw 0 x
4 Mapping entry 4 UNS32 rw 0 x
CANOPEN INTERFACE
9
OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 33 8019054/14IT/2019-06-27 | SICK
Subject to change without notice