CANopen Supported Objects
38
Doc.Id. SCM-1200-080
Anybus X-gateway CANopen - PROFIBUS
Doc.Rev. 1.02
Product Code, 1F86h
Each node on the CANopen network is checked against its expected product code. The sub-index in-
dicates which node is checked. The node in question is only checked if data is other than zero:
Revision Number, 1F87h
Each node on the CANopen network is checked against its expected revision number. The revision
number includes major and minor revision. For a match to occur the major revision has to be exactly
the same and the minor revision of the module has to be greater than or equal to the expected minor
revision number. The sub-index indicates which node is checked. The node in question is only checked
if data is other than zero:
Serial Number, 1F88h
Each node on the CANopen network is checked against its expected serial number. The sub-index in-
dicates which node is checked. The node in question is only checked if data is other than zero:
Boot Time, 1F89h
The network master will wait the assigned time (in ms) for all mandatory slaves to boot. If not all man-
datory slaves are ready after this time, the LSS routine will be started, see “LSS Services” on page 28. If
the assigned time is 0, the master will wait endlessly.
7.3 Vendor Specific Objects
Vendor specific objects are used to configure the PDOs to the shared memory area. One or several ge-
neric data object are connected to each PDO. This is configured during the configuration phase.
Application data bytes 0 and 1 are used for control and status words.
Sub-Index
Description
0
Largest sub-index supported (127)
i (with i = 1...127)
Compares expected product code with actual product code (object 1018h, sub-index 2) for the
slave with Node ID i. Boot up of that slave is continued only if they match. If they don’t match,
the slave will stay in state PRE-OPERATIONAL.
Sub-Index
Description
0
Largest sub index supported (127)
i (with i = 1...127)
Compares expected revision number with actual revision number (object 1018h, sub-index 3)
for the slave with Node ID i. Boot up of that slave is continued only if they match according to
the description above.
Sub-Index
Description
0
Largest sub-index supported (127)
i (with i = 1...127)
Compares expected serial number with actual serial number (object 1018h, sub-index 4) for
the slave with Node ID i. Boot up of that slave is continued only if they match. If they don’t
match, the slave will stay in state PRE-OPERATIONAL.
Value (ms)
Description
0
Default. No time limit for mandatory slaves to boot
> 0
Time limit for mandatory slave to boot
