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Anybus CompactCom 30, Сетевое руководство

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Object Dictionary (CANopen)

14 (36)

5

Object Dictionary (CANopen)

5.1

Standard Objects

5.1.1

General

The standard object dictionary is implemented according to the DS302 specification (v4.02)
from CiA (CAN in Automation). Note that certain object entries correspond to settings in the
CANopen Object (FBh), and the Diagnostic Object (02h).

5.1.2

Object Entries

Index

Object
Name

Sub-
Index

Description

Type

Access

Notes

0005h

Dummy
Object

00h

Dummy Object

U8

WO

-

0006h

Dummy
Object

00h

Dummy Object

U16

WO

-

0007h

Dummy
Object

00h

Dummy Object

U32

WO

-

1000h

Device Type

00h

Device Type

U32

RO

0000 0000h (No profile)

1001h

Error register

00h

Error register

U8

RO

This information is handled
through the Diagnostic Ob-
ject, see

Diagnostic Object

(02h), p. 21

.

The Anybus diagnostic ob-
ject allows up to 5 diagnostic
events to be reported. How-
ever, an extra event is re-
served for internal errors etc.

1003h

Pre-defined
error field

00h

Number of errors

U8

RW

01h...06h

Error field

U32

RO

1005h

COB-ID
Sync

00h

COB-ID Sync

U32

RW

Default value is 0000 0080h
The Anybus CompactCom
30 CANopen module does
not have Sync producer
support.

1008h

Manufacturer
device name

00h

Manufacturer de-
vice name

Visible
string

RO

This information is deter-
mined by the CANopen Ob-
ject, which can optionally be
implemented in the host ap-
plication. See

CANopen Ob-

ject (FBh), p. 26

.

Object 1009h must be en-
abled, see

CANopen Object

(FBh), p. 26

. (If not enabled,

any access to this object will
generate an error).

1009h

Manufacturer
hardware
version

00h

Manufacturer
hardware
version

Visible
string

RO

100Ah

Manufacturer
software
version

00h

Manufacturer
software version

Visible
string

RO

100Ch

Guard time

00h

Guard time

U16

RW

-

100Dh

Life time
factor

00h

Life time factor

U8

RW

-

Anybus

®

CompactCom

™

30 Network Guide

HMSI-168-78 EN 4.1

Содержание CompactCom 30

Страница 1: ...Anybus CompactCom 30 CANopen NETWORK GUIDE HMSI 168 78 EN 4 1 ENGLISH...

Страница 2: ...ions codes and standards HMS Industrial Networks AB will under no circumstances assume liability or responsibility for any problems that may arise as a result from the use of undocumented features tim...

Страница 3: ...ce Notes 7 3 3 Certification 7 4 Basic Operation 9 4 1 General Information 9 4 2 Data Exchange 10 4 3 Device Address Baud Rate Configuration 13 4 4 Network Reset Handling 13 5 Object Dictionary CANope...

Страница 4: ...ition 30 B 2 Anybus State Machine 30 B 3 Application Watchdog Timeout Handling 31 C Technical Specification 32 C 1 Front View 32 C 2 Functional Earth FE Requirements 33 C 3 Power Supply 33 C 4 Environ...

Страница 5: ...product should either obtain the CANopen specification to gain sufficient knowledge or limit their implementation in such a way that this is not necessary For additional related documentation and fil...

Страница 6: ...s is an external link URL www hms networks com This is additional information which may facilitate installation and or operation This instruction must be followed to avoid a risk of reduced functional...

Страница 7: ...6 1 6 Trademark Information Anybus is a registered trademark of HMS Industrial Networks AB All other trademarks are the property of their respective holders Anybus CompactCom 30 Network Guide HMSI 168...

Страница 8: ...ork related soft ware support is needed however in order to take advantage of advanced network specific func tionality a certain degree of dedicated software support may be necessary The functionality...

Страница 9: ...odule supports CAN Standard Frames with 11 bit Identifier Field see CiA Draft Standard 301 v4 02 29 bit Identifier Fields are not allowed 3 3 Certification When using the default settings of all param...

Страница 10: ...te you set the Minor Re vision of the device 0001 CANopen Object FBh Instance 1 6 Manu facturer Device Name With this at tribute you set the Product Name of the device Anybus CC CANopen Widget This in...

Страница 11: ...nning the Conformance Test Tool When using the default PDO mapping scheme only the first element of an array will be rep resented cyclically There is however no such limitation if creating a custom PD...

Страница 12: ...object en tries in the Manufacturer Specific range 2001h 5FFFh see Manufacturer Specific Objects p 16 The EDS file must match the actual ADI implementation in the host application 4 2 2 Process Data O...

Страница 13: ...e If an ADI simple variable or element of an ADI array is mapped and does not fit completely within a PDO this ADI or element of an ADI will be moved to the next available PDO as long as there are PDO...

Страница 14: ...s The module supports two triggering modes Event Driven Message transmission is triggered by Transmission Type Description Notes 254 255 COS When Process data have been changed The perform ance will b...

Страница 15: ...odule by its Vendor ID Prod uct Code Revision number and serial number It is possible to enforce LSS during startup by setting the instance Device Address 01h to 255 see Network Configuration Object 0...

Страница 16: ...tic events to be reported How ever an extra event is re served for internal errors etc 1003h Pre defined error field 00h Number of errors U8 RW 01h 06h Error field U32 RO 1005h COB ID Sync 00h COB ID...

Страница 17: ...n reading or writing to this object 01h Restore all de fault parameters U32 RW 02h Restore commu nication default parameters U32 RW 04h Restore manu facturer parame ters to Default U32 RW See Network...

Страница 18: ...apped object 2 U32 RW 03h Mapped object 3 U32 RW 04h Mapped object 4 U32 RW 05h Mapped object 5 U32 RW 06h Mapped object 6 U32 RW 07h Mapped object 7 U32 RW 08h Mapped object 8 U32 RW 5 2 Manufacturer...

Страница 19: ...Value range of parameter exceeded only for write access Invalid state 0800 0022h Data cannot be transferred or stored to the application because of the present device state Out of resources 0504 0005...

Страница 20: ...pends on the ADI itself FFh ADI data type U32 RO 2003h ADI 0003h 00h Number of en tries NNh U8 RO Sub Index FFh excluded 01h ADI value s At tribute 5 ADIs with multi ple elements i e arrays are rep re...

Страница 21: ...the Anybus Module Object implementation and how the objects corre spond to the functionality in the Anybus CompactCom 30 CANopen Standard Objects Anybus Object 01h p 20 Diagnostic Object 02h p 21 Net...

Страница 22: ...s CompactCom 30 Software Design Guide for further information Instance Attributes Instance 1 Basic Name Access Type Value 1 Module type Get UINT16 0401h Standard Anybus CompactCom 30 2 11 See the gene...

Страница 23: ...for internal CANopen diagnostics Instance Attributes Instance 1 n Basic Name Access Type Value 1 Severity Get UINT8 See below 2 Event Code Get UINT8 Extended Name Access Type Value 3 NW specific exten...

Страница 24: ...lled a lost message 8120h CAN controller reached the warning limit due to error frames 8210h A received PDO was smaller than specified by the valid mapping table 8220h The DLC of a received PDO exceed...

Страница 25: ...process data size Get UINT16 Current write process data size in bytes Updated on every successful Map_ADI_Write_Area Consult the general Anybus CompactCom 30 Software Design Guide for further informat...

Страница 26: ...ation 2 Revision Get UINT8 01h 3 Number of instances Get UINT16 0002h 4 Highest instance no Get UINT16 0002h Instance Attributes Instance 1 Device Address Basic Name Access Data Type Description 1 Nam...

Страница 27: ...kbps 2 50 kbps 3 reserved Firmware versions 3 xxx 100 kbps Firmware versions previous to 3 0 4 125 kbps 5 250 kbps 6 500 kbps 7 800 kbps 8 1 Mbps 9 Auto 10 LSS default Note that this value may be upd...

Страница 28: ...o highly recommended to support all at tributes listed below if the object is implemented since this has a very high impact on CANopen specific functionality Supported Commands Object Get_Attribute 01...

Страница 29: ...re Version Get Array of CHAR Max 24 bytes x yy Replaces object entry 100Ah Manufacturer Software Version 9 13 reserved 14 Default PDO map configuration Get UINT8 00h 00h Standard default PDO mapping m...

Страница 30: ...This page intentionally left blank...

Страница 31: ...he industrial network are used Additional objects etc that will make it possible to certify the product also belong to this category A 2 Extended Use of the objects in this category extends the functi...

Страница 32: ...s from the Anybus The application shall regard process data from network as not valid WAIT_PROCESS PRE OPERATIONAL Send Bootup Event message on the bus the first time the state is entered If a Guardin...

Страница 33: ...NODE requests have been received The Anybus will reset the CAN controller and stop com munication over the network This state could also be en tered due to an application error invalid network config...

Страница 34: ...EXCEPTION state Fatal Event The module has shifted into the state EXCEPTION If both LEDs turns red this indicates a fatal event the bus interface is shifted into a physically passive state C 1 3 ERROR...

Страница 35: ...tion about the power consumption classification used on the Anybus CompactCom platform consult the general Anybus CompactCom 30 Hardware Design Guide The current hardware design consumes up to 180 mA...

Страница 36: ...rview Host Application Anybus Host interface software Network specific software Network specific hardware Network Master Application software HMS Driver Anybus Delay Event Network System Delay Network...

Страница 37: ...rval 0 2 0 3 ms No of ADIs single UINT8 mapped to Process Data in each direction 8 16 and 32 Communication Parallel Telegram types during measurement period Process Data only Bus load no of nodes baud...

Страница 38: ...last page 2018 HMS Industrial Networks AB Box 4126 300 04 Halmstad Sweden info hms se HMSI 168 78 EN 4 1 2018 06 29 8802...

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