Schneider Electric DS301 manual Object directory, Specifications for the objects

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IL•1F CANopen DS301

8 Object directory

0198441113586, V2.01, 11.2008

8 Object directory

8.1Overview

This object dictionary only describes the protocol for the product as per CANopen DS 301. The objects for controlling operating modes, func- tions and all parameters can be found in the product manual for the prod- uct.

8.1.1Specifications for the objects

Index The index specifies the position of the object in the object dictionary. The index value is specified as a hexadecimal value.

Object code The object code specifies the data structure of the object.

Object code	Meaning	Coding
VAR	A single value, for example of the type	7
	Integer8, Unsigned32 or Visible String8.

ARR (ARRAY)	A data field in which every entry is of the	8
	same data type.

REC (RECORD)	A data field that contains entries that are	9
	a combination of single data types.

Data type	Value range		Data length
Boolean	0	= false, 1 = true	1 byte

INT8	-128 ..+127		1 byte

INT16	-32768 ..+32767		2 byte

INT32	-2147483648 ..+2147483647		4 byte

UINT8	0	..255	1 byte

UINT16	0	..65535	2 byte

UINT32	0	..4294967295	4 byte

Visible String8	ASCII characters		8 byte

Visible String16	ASCII characters		16 byte

Access ro: "Read Only"value can be read only

rw: "Read Write"value can be read and written

wo: "Write Only"value can be written only

PDO R_PDO: mapping for R_PDO possible

T_PDO: mapping for T_PDO possible

No specification: PDP mapping not possible with the object

Value range Specifies the permissible range in which the object value is defined and valid.

Default value Load the saved factory settings to reset the product to the default values.

Fieldbus interface

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Contents IL1F CANopen DS301 Important information Table of Contents Table of Contents IL1F CANopen DS301 Object directory Table of Contents IL1F CANopen DS301 Writing conventions and symbols Writing conventions and symbols IL1F CANopen DS301 About this manual IntroductionCAN-Bus Fieldbus devices networked via can bus Operating modes and functions in fieldbus modeCan users and manufacturers organization Documentation and literature referencesIntroduction IL1F CANopen DS301 Before you begin safety information Before you begin safety information IL1F CANopen DS301 Communication layers BasicsCANopen technology CANopen description languageIndex hex Object groups Supported By the drive ObjectsIL1F CANopen DS301 Basics CANopen reference model CANopen profilesObject dictionary Communication profileIndex Subindex Object Meaning Index range Object groups Supported Hex By the drive Communication objects Communication objectsCOB ID with function code and node address TPDO4 Master slave relationships Communication relationshipsClient-server relationship Overview Service data communicationSDO data exchange 11 SDO message, example SDO messageMessage type Data length used Bytes Reading and writing dataMessage type Data length used Byte Bytes 14 Reading a parameter value15 Response with error message error response Process data communication 16 PDO data exchange PDO data exchangeUINT32 18 Requesting a message with RTR = Dynamic and static PDO mappingStructure of RPDO4 Receive PDO RPDO4 master slaveState machine drivectrl JOG Operating modes modeCtrlTransmit PDO TPDO4 product to master @ Warning20 Structure of TPDO4 Structure of TPDO4Bit Name Description Handshake with Mode Toggle BitMaster Slave Xend 22 Mode Toggle Handshake, short movementBasics IL1F CANopen DS301 23 Error message with the Emcy object Emergency service25 Sync message Synchronization27 Cyclic and acyclic transmission NMT services for device control Network management servicesInitialization NMT service Transition MeaningPersistent data memory Command Specifier NMT service Transition NMT services for connection monitoringNode/Life guarding 31 Acknowledgement of the NMT slave 32 Node Guarding and Life Guarding with time intervals Installation Installation IL1F CANopen DS301 Commissioning the device CommissioningAddress and baud rate Starting fieldbus modeCommissioning the fieldbus network Error Error class Cause of error Troubleshooting TroubleshootingCreating a new network SyCon CANopen configuration softwareSelecting the CANopen master Setting the bus parameters Selecting and inserting nodes Overview OperationOperation IL1F CANopen DS301 Receive data Using SDO commandsWriting parameters Transmit dataReading a parameter Synchronous errorsIndex Sub Data Description Changing operating states with PDO4 Operating Name Power Description State StageBit no Value Meaning Triggering a Quick Stop Switching the power stage on and offExample Come to a standstill System is to resume opera Resetting faults Examples for the operating modes with PDO4 Operating mode Profile Position absolute positioning Operating mode Profile Velocity Operating mode Profile Position relative positioningMaster --- Slave Position settingOperating mode Homing Asynchronous errors Error signaling via PDO4Positioning running xerr=0 Operation IL1F CANopen DS301 Fieldbus communication error diagnostics Diagnostics and troubleshootingMessage objects Error diagnostics via fieldbusMessages on the device status Bit Message Meaning CANopen error messagesError register Error code tableError code Meaning SDO error message AbortData type Value range Data length Specifications for the objectsObject directory Object code Meaning CodingObjects, overview Index Subindex Designation Obj. code Data type AccessObjects of the product Error registerDevice type 100Ch Bit coding, subindex 00h1008h Manufacturer device nameIndex 100D h Object name Life time factor Object code Index 1018 h Object name Identity Object Object code Data type PDO Communication parameter Bit Acces Value Meaning Bit assignment subindex 01hBit 30 RTR bit Bit coding, subindex 02h1603h Receive PDO4 mapping Value description BitMeaning 1803h Transmit PDO4 communication parameterSubindex 03 h, inhibit time TPDO4 Meaning IL1F CANopen DS301 Object directory PDO4 mapping 1603h Units and conversion tables GlossaryMoment of inertia TemperatureRotation TorqueTerms and Abbreviations Default value Factory settingPower amplifier See power stage Can IndexIndex IL1F CANopen DS301 IL1F CANopen DS301 Index NMT IL1F CANopen DS301 Index 102 Fieldbus interface