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Manual PC6D CANopen Page

Communication Profile (Tables)

Index Sub-

index

Name Type Attri-

bute

Default-

value

Meaning

1000 0 Device Type UI32 ro 00040191H Device Type

<TBD>

1001 0 Error Register UI8 ro 0 0: No error

Bit 0: General error in Gateway Module

Bit 4: Error in CAN communication module

Bit 7: Manufacturer-specific error

1005 0 COB-ID Sync messg. UI32 rw 80H COB-ID of the SYNC object

1006 0 Communication cycle

Period

UI32 rw 50000 Minimum interval between TDPO1 (default 20Hz).

Min=833 (1200Hz rate).

100C 0 Guard Time UI16 rw 320 Cycle time in ms, set by the NMT Master or the configuration tool.

100D 0 Life Time Factor UI8 rw 3 Wait time is set by the NMT Master or the configuration tool.

100E 0 Node guarding

identifier

UI32 rw 0x700 +

NodeID

Node guarding identifier

1014 0 COB-ID Emergency

Message

UI32 rw 80H +

NodeID

COB-ID of the Emergency Object

1017 0 Heartbeat Time UI16 rw 0 Producer Heartbeat time. If index 1017h is nonzero Heartbeat is

used, else Node-guard protocol is used.

1018 0

Identity Object

Vendor ID

Product Code

Revision Number

Serial Number

UI8

UI32

4 Number of entries

Vendor ID

Product Code

Revision Number

Serial Number

1400

Number of elements

COB-ID

Transmission type

UI8

UI32

UI8

80000200H

+ NodeID

FFH

Communication parameters of 1st Receive PDO

Determined using the CANopen minimum system ID assignment

procedure.

Asynchronous communication.

1401 0

Number of elements

COB-ID

Transmission type

UI8

UI32

UI8

80000300H

+ NodeID

FFH

Communication parameters of 2

Receive PDO

Determined using the CANopen minimum system ID assignment

procedure.

Asynchronous communication.

1 2 ... 6 7 8 9 10 11 12 13 14 15 16 ... 44 45

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