IFM ecomat 100 R 360 Series, Системное руководство

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page 45
It is defined in the "predefined connection set”. Whether this
default is adhered to or not depends on the corresponding
application. To ensure a high flexibility as regards the selection
of CANopen devices from different manufacturers you should
carefully consider whether non-adherence is required.
Object Code
(binary) COB IDs
(decimal) Default function
NMT 0000 0000000 0 Network managem.
SYNC 0001 0000000 128 Synchronization
EMCY 0001 xxxxxxx 129 - 255 Error states
TIME STAMP 0010 0000000 256 Network time
PDO1(tx) 0011 xxxxxxx 385 - 511 Synchronous PDO
PDO1(rx) 0100 xxxxxxx 513 - 639 Synchronous PDO
PDO2(tx) 0101 xxxxxxx 641 - 767 Asynchronous PDO
PDO2(rx) 0110 xxxxxxx 769 - 895 Asynchronous PDO
SDO(tx) 1011 xxxxxxx 1409 - 1535 Master->slave SDO
SDO(rx) 1100 xxxxxxx 1537 - 1663 Slave->master SDO
Nodeguarding 1110 xxxxxxx 1793 - 1919 Node/life guarding
The object directory All node parameters are stored in the object directory of the
corresponding CANopen node. To ensure a clear identification a
directory entry is marked by an index (IDX, length 16 bits) and a
subindex (SUBIDX, length 8 bits). Depending on the parameter
type they are stored in the individual index areas. The meaning
of the individual indexes for the communication and standard
parameters are defined for the individual device types in the
CANopen standard. In addition, an area for manufacturer-
specific data is available. In this area the configuration
parameters for the I/O modules from ifm electronic gmbh are for
example stored.
Index (hex) Object
0000 Not used
0001 - 009F Data types
00A0 - 0FFF Reserved
1000 - 1FFF Area for the communication profile
2000 - 5FFF Area for the manufacturer-specific data
6000 - 9FFF Area for standard device parameters
A000 - FFFF Area for gen. IEC1131 network variables
Service Data Object (SDO) A read and write access to the object directory is achieved via
the "Service Data Objects" (SDOs).
The SDOs are used for all data in CANopen which are not time
critical. In principle, they are only transmitted from point to point
(network master / slave). The SDOs are chiefly used to transmit
the configuration data of the CAN participant during the booting
phase.