
14
85201A_RK5C_User Manual_02-2017_ENG
4.1 OBJECT DICTIONARY
The object dictionary of the GEFRAN RK5C CANopen device is specified in the following tables.
Communication Profile Area
Index
Sub
index
Name
Type
Access
Default
value
Comment
1000h
0
Device type
Unsigned32
RO
000A0196h Multi-sensor encoder interface with
ds406 device profile
1001h
0
Error register
Unsigned8
RO
-
00h: no error
81h: transducer error
1002h
0
Manufacturer
status register
Unsigned32
RO
-
Common status register for manu-
facturer-specific purposes
1005h
0
COB-ID SYNC
Unsigned32
RW
00000080h Configured COB-ID of the synchro-
nization object (SYNC)
1008h
0
Manufacturer
device name
Visible string
RO
RK5C
Name of the device
1009h
0
Manufacturer
HW version
Visible string
RO
-
Hardware version description
100Ah
0
Manufacturer
SW version
Visible string
RO
-
Software version description
1010h
0
Store
parameters
Unsigned8
RO
1
Highest sub-index supported
1
Unsigned32
RW
00000001h
Writing the signature “save” (73h,
61h, 76h, 65h) stores all parame-
ters in flash memory
1011h
0
Restore
default
parameters
Unsigned8
RO
1
Highest sub-index supported
1
Unsigned32
RW
00000001h
Writing the signature “load” (6Ch,
6Fh, 61h, 64h) restores all parame-
ters in flash to their default values
1014h
0
COB-ID EMCY Unsigned32
RW
000
Node-ID
Configured COB-ID for the EMCY
write service
1015h
0
Inhibit time
EMCY
Unsigned16
RW
0000h
Configured inhibit time for the
EMCY service
1017h
0
Producer
heartbeat time
Unsigned16
RW
0000h
Configured cycle time of the
heartbeat (ms)
1018h
0
Identity object
Unsigned8
RO
4
Highest sub-index supported
1
Unsigned32
RO
00000093h Vendor-ID
2
Unsigned32
RO
43354B52h Product code
3
Unsigned32
RO
-
Revision number
4
Unsigned32
RO
-
Serial number
1200h
0
SDO1 server
parameter
Unsigned8
RO
2
Highest sub-index supported
1
Unsigned32
RO
000
Node-ID
COB-ID client --> server (rx)
2
Unsigned32
RO
000
Node-ID
COB-ID server <-- client (tx)
1800h
0
TPDO1
communication
parameter
Unsigned8
RO
5
Highest sub-index supported
1
Unsigned32
RW
000
Node-ID
COB-ID of the TPDO1
2
Unsigned8
RW
FEh
Transmission type
5
Unsigned16
RW
0001h
Event-timer
1A00h
0
TPDO1
mapping
parameter
Unsigned8
RO
2
Number of mapped application
objects in TPDO1
1
Unsigned32
RO
60200120h 1st application object (position)
2
Unsigned32
RO
60300110h 2nd application object (speed)