Objects, overview | Schneider Electric DS301 manual

8 Object directory

IL•1F CANopen DS301

Can be saved yes: values can be saved to the memory of the product and are available when the product is switched on again.

–: values are lost when the product is switched off.

8.1.2Objects, overview

	Index	Subindex	Designation	Obj. code	Data type	Access
	1000h		device type	VAR	UINT32	ro
	1001h		error register	VAR	UINT8	ro
	1008h		manufacturer device name	VAR	String	ro
	100Ch		guard time	VAR	UINT16	rw
	100Dh		life time factor	VAR	UINT8	rw
	1015h		inhibit time EMCY	VAR	UINT16	rw
	1018h		identity object	RECORD	Identity	ro
	1018h	0	number of elements	VAR	UINT8	ro
	1018h	1	Vendor id	VAR	UINT32	ro
	1018h	2	product code	VAR	UINT8	ro
	1403h		receive PDO4 communication parameter	RECORD	PDO_Com	ro
	1403h	0	number of elements	VAR	UINT8	ro
	1403h	1	COB ID used by R_PDO4	VAR	UINT32	ro
	1403h	2	transmission type R_PDO4	VAR	UINT8	rw
	1403h	3	inhibit time R_PDO4	VAR	UINT16	rw
	1403h	4	compatibility entry R_PDO4	VAR	UINT8	rw
	1403h	5	event timer R_PDO4	VAR	UINT16	rw
	1603h		receive PDO4 mapping	RECORD	PDO_Map	ro
	1603h	0	number of elements	VAR	UINT8	ro
	1603h	1	1st mapped object R_PDO4	VAR	UINT32	ro
	1603h	2	2nd mapped object R_PDO4	VAR	UINT32	ro
	1603h	3	3rd mapped object R_PDO4	VAR	UINT32	ro
	1603h	4	4th mapped object R_PDO4	VAR	UINT32	ro
	1803h		transmit PDO4 communication parameter	RECORD	PDO_Com	ro
	1803h	0	number of elements	VAR	UINT8	ro
	1803h	1	COB ID used by T_PDO4	VAR	UINT32	ro
	1803h	2	transmission type T_PDO4	VAR	UINT8	rw
	1803h	3	inhibit time T_PDO4	VAR	UINT16	rw
	1803h	4	reserved T_PDO4	VAR	UINT8	rw
	1803h	5	event timer T_PDO4	VAR	UINT16	rw	11.2008
	1A03h		transmit PDO4 mapping	RECORD	PDO_Map	ro	11.2008
	1A03h		transmit PDO4 mapping	RECORD	PDO_Map	ro
	1A03h	0	number of elements	VAR	UINT8	ro	V2.01,
	1A03h	1	1st mapped object T_PDO4	VAR	UINT32	ro	V2.01,
							0198441113586,
	1A03h	2	2nd mapped object T_PDO4	VAR	UINT32	ro	0198441113586,
	1A03h	2	2nd mapped object T_PDO4	VAR	UINT32	ro
	1A03h	3	3rd mapped object T_PDO4	VAR	UINT32	ro
	1A03h	4	4th mapped object T_PDO4	VAR	UINT32	ro

80	Fieldbus interface

Image 80

Schneider Electric DS301 manual Objects, overview, Index Subindex Designation Obj. code Data type Access

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 CAN-Bus IntroductionAbout this manual Operating modes and functions in fieldbus mode Fieldbus devices networked via can bus Documentation and literature references Can users and manufacturers organization Introduction IL1F CANopen DS301 Before you begin safety information Before you begin safety information IL1F CANopen DS301 Basics CANopen technologyCANopen description language Communication layers Objects Index hex Object groups Supported By the drive IL1F CANopen DS301 Basics CANopen profiles CANopen reference model Index Subindex Object Meaning Communication profileObject dictionary Index range Object groups Supported Hex By the drive Communication objects Communication objects COB ID with function code and node address TPDO4 Communication relationships Master slave relationships Client-server relationship SDO data exchange Service data communicationOverview SDO message 11 SDO message, example Reading and writing data Message type Data length used Bytes 14 Reading a parameter value Message type Data length used Byte Bytes 15 Response with error message error response Process data communication PDO data exchange 16 PDO data exchange UINT32 Dynamic and static PDO mapping 18 Requesting a message with RTR = Receive PDO RPDO4 master slave Structure of RPDO4 State machine drivectrl Operating modes modeCtrl JOG @ Warning Transmit PDO TPDO4 product to master Structure of TPDO4 20 Structure of TPDO4 Handshake with Mode Toggle Bit Bit Name Description 22 Mode Toggle Handshake, short movement Master Slave Xend Basics IL1F CANopen DS301 Emergency service 23 Error message with the Emcy object Synchronization 25 Sync message 27 Cyclic and acyclic transmission Network management services NMT services for device control Persistent data memory NMT service Transition MeaningInitialization Node/Life guarding NMT services for connection monitoringCommand Specifier NMT service Transition 31 Acknowledgement of the NMT slave 32 Node Guarding and Life Guarding with time intervals Installation Installation IL1F CANopen DS301 Commissioning Commissioning the device Commissioning the fieldbus network Starting fieldbus modeAddress and baud rate Troubleshooting Error Error class Cause of error Troubleshooting Selecting the CANopen master SyCon CANopen configuration softwareCreating a new network Setting the bus parameters Selecting and inserting nodes Operation Overview Operation IL1F CANopen DS301 Using SDO commands Writing parametersTransmit data Receive data Index Sub Data Description Synchronous errorsReading a parameter Bit no Value Meaning Operating Name Power Description State StageChanging operating states with PDO4 Example Switching the power stage on and offTriggering a Quick Stop 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 Position relative positioning Operating mode Profile Velocity Position setting Master --- Slave Operating mode Homing Error signaling via PDO4 Asynchronous errors Positioning running xerr=0 Operation IL1F CANopen DS301 Diagnostics and troubleshooting Fieldbus communication error diagnostics Messages on the device status Error diagnostics via fieldbusMessage objects CANopen error messages Error registerError code table Bit Message Meaning SDO error message Abort Error code Meaning Specifications for the objects Object directoryObject code Meaning Coding Data type Value range Data length Index Subindex Designation Obj. code Data type Access Objects, overview Device type Error registerObjects of the product Bit coding, subindex 00h 1008hManufacturer device name 100Ch Index 100D h Object name Life time factor Object code Index 1018 h Object name Identity Object Object code Data type PDO Communication parameter Bit assignment subindex 01h Bit 30 RTR bitBit coding, subindex 02h Bit Acces Value Meaning 1603h Receive PDO4 mapping Value description 1803h Transmit PDO4 communication parameter BitMeaning Subindex 03 h, inhibit time TPDO4 Meaning IL1F CANopen DS301 Object directory PDO4 mapping 1603h Glossary Units and conversion tables Temperature RotationTorque Moment of inertia Default value Factory setting Terms and Abbreviations Power amplifier See power stage Index Can Index IL1F CANopen DS301 IL1F CANopen DS301 Index NMT IL1F CANopen DS301 Index 102 Fieldbus interface