Baumer GK473 User Manual
Page 17
Manual_GK473_CANopen_EN.doc
17/24
Baumer IVO GmbH & Co. KG
04.05.11
Villingen-Schwenningen,
Germany
5.7. CANopen Object directory
Overview on gateway objects
According to CiA (CAN in Automation) the objects are subdivided into three groups:
• Standard objects:
1000h, 1001h, 1018h
• Manufacturer-specific objects:
2000h - 5FFFh
• Device-specific objects:
All remaining objects from 1000h - 1FFFh, 6000h - FFFFh
The following chart is a summary of all SDO objects supported by the gateway.
Objekt
object number in Hex
Name ---
Format
U/I = Unsigned/Integer, Figure = number Bit, ARR = Array, REC = Record
Zugriff ro = ReadOnly, wo = WriteOnly, rw = ReadWrite
Default
Default at first init or restore default
Significance
supplementary description
Object
Sub-Index
Name
Format Access
Default
Significance
1000h Device
Type
U32
ro
00000000h
Gateway
not standardized and not conform to
any CiA Device Profile.
GK473 provides connection between
CANopen Master to the RS485 devices of the
IVO Multicon product family.
1001h Error Register
U8
ro
0h
Bit0 = Generic error
Bit4 = Communication error (overrun, …)
Bit7 = Manufacturer-specific
1005h Sync COB-ID
U32
rw
80h
COB-ID of Sync object
1008h DeviceName
U32
ro
GK473
Gateway CANopen for the IVO Multicon
product family
1009h Hardware Version
U32
ro
device-specific
Product Hardware Version in ASCII
100Ah Software Version
U32
ro
device-specific
Product Software Version in ASCII
1017h Producer Heartbeat
Time
U16
rw
0h
Producer Heartbeat time in ms
1018h Identity
Object
REC
ro
00h Maximum Subindex U8
ro
4h
01h VendoID
U32
ro
ECh
IVO Vendor ID designated by CiA
02h Product Code
U32
ro
2Dh
Product Code
03h Revision Number
U32
ro
Manufacturer-
specific
Product revision number
04h Serial Number
U32
ro
0