Flintec PC6D - Manual (Page 11)

Manual PC6D CANopen Page 11
Communication Profile (Tables)
Index Sub-
index
Name Type Attri-
bute Default-
value Meaning
1000 0 Device Type UI32 ro 00040191H Device Type
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
1
2
3
4 Identity Object
Vendor ID
Product Code
Revision Number
Serial Number UI8
UI32
UI32
UI32
UI32 ro
ro
ro
ro
ro 4 Number of entries
Vendor ID
Product Code
Revision Number
Serial Number
1400
0
1
2 Number of elements
COB-ID
Transmission type UI8
UI32
UI8 ro
ro
ro 2
80000200H
+ NodeID
FFH Communication parameters of 1st Receive PDO
Determined using the CANopen minimum system ID assignment
procedure.
Asynchronous communication.
1401 0
1
2 Number of elements
COB-ID
Transmission type UI8
UI32
UI8 ro
ro
ro 2
80000300H
+ NodeID
FFH Communication parameters of 2 nd Receive PDO
Determined using the CANopen minimum system ID assignment
procedure.
Asynchronous communication.