VIPA System 200V IM Series, Manual

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Manual VIPA System 200V
Chapter 5 CANopen
HB97E - IM - Rev. 06/29 5-53
Every object is associated with a function code. You can obtain the
required function code from the following table:
Object
Function code
(4 bits) Receiver Definition Function
NMT 0000 Broadcast CiA DS-301 Network managem.
EMERGENCY 0001 Master CiA DS-301 Error message
PDO1S2M 0011 Master, Slave (RTR) CiA DS-301 Digital input data 1
PDO1M2S 0100 Slave CiA DS-301 Digital output data 1
SDO1S2M 1011 Master CiA DS-301 Configuration data
SDO1M2S 1100 Slave CiA DS-301 Configuration data
Node Guarding 1110 Master, Slave (RTR) CiA DS-301 Module monitoring
Heartbeat 1110 Master, Slave Application spec. Module monitoring
Note!
A detailed description of the structure and the contents of these objects is
available in "CiA Communication Profile DS-301 Version 3.0" and "CiA
Device Profile for I/O-Modules DS-401 Version 1.4".
A CANopen device can be structured as follows:
Communication
Status machine
SDO
PDO
PDO
SYNC
NMT
Heartbeat or
Node Guarding
SDO
Status machine
Application
Object
Object directory
Index Subind. Value
entry 1
entry 2
entry 3
.
.
.
entry n
Application
Application
Object
Application
Object
Application
Object
Application
Object
P
ro
ce
ss (
I/O
s)
CA
N
b
u
s
sys
te
m
.
.
.
Communication
Serves the communication data objects and the concerning functionality for
data transfer via the CANopen network.
Application
The application data objects contain e.g. in- and output data. In case of an
error, an application status machine switches the outputs in a secure state.
The object directory is organized as 2 dimension table. The data is addres-
sed via index and sub-index.
Object directory
This object directory contains all data objects (application data +
parameters) that are accessible and that influence the behavior of
communication, application and status machines.
CANopen function
codes
Structure of the
device model