Documentation pdcx85

Description

CANopen device

Hardware Configuration

Active configuration: 0
Used CPU/OS: 56F8300
Used CAN controller: FLEXCAN

Line 0

Table of Objects - Line 0


[ Top ] [ Top of line ]

Communication Segment

Object 1000h: Device Type
The device type specifies the kind of device.
The lower 16 bit contain the device profile number
and the upper 16 bit an additional information.
Object Description
INDEX 1000
Name Device Type
Object Code Variable
Data Type UNSIGNED32
Category Mandatory
Entry Description
Access CONST
PDO Mapping No
Default Value 0x0000000
Lower Limit 0x00000000
Upper Limit 0xFFFFFFFF
Unit -
Object 1001h: Error Register
The error register is a field of 8 bits, each for a certain error type.
If an error occurs the bit has to be set.
 
Bit Meaning
0  generic error
1  current
2  voltage
3  temperature
4  communication error (overrun, error state)
5  device profile specific
6  reserved
7  manufacturer specific
Object Description
INDEX 1001
Name Error Register
Object Code Variable
Data Type UNSIGNED8
Category Mandatory
Entry Description
Access RO
PDO Mapping No
Default Value 0x00
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Object 1017h: Producer Heartbeat Time
The producer heartbeat time defines the cycle 
    time of the heartbeat. If the time is 0 it is not used.
    The time has to be a multiple of 1 msec
Object Description
INDEX 1017
Name Producer Heartbeat Time
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x000003E8
Lower Limit 0x0
Upper Limit 0xFFFF
Unit -
Object 1018h: Identity Object
This object contains general information about the
device.
Sub-Index 1 contains a unique value allocated each manufacturer.
Sub-Index 2 identifies the manufacturer specific product code (device version).
Sub-Index 3 contains the revision number.
Bit 31-16 is the major revision number and Bit 15-0 the minor revision number.
Sub-Index 4 identifies a manufacturer specific serial number.
Object Description
INDEX 1018
Name Identity Object
Object Code Record
Data Type IDENTITY
Category Mandatory
Entry Description
Sub-Index 000
Description number of entries
Entry Category Mandatory
Access RO
PDO Mapping No
Default Value 0x4
Lower Limit 0x1
Upper Limit 0x4
Unit -
Sub-Index 001
Description Vendor Id
Entry Category Mandatory
Data Type UNSIGNED32
Access RO
PDO Mapping No
Default Value 0x0000021A
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Product Code
Entry Category Optional
Data Type UNSIGNED32
Access RO
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 003
Description Revision number
Entry Category Optional
Data Type UNSIGNED32
Access RO
PDO Mapping No
Default Value 0x00010001
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 004
Description Serial number
Entry Category Optional
Data Type UNSIGNED32
Access RO
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Object 1400h: Receive PDO Communication Parameter 1
It contains the communication parameters of the current PDO
the device is able to receive.
Sub-index 0 contains the number of PDO-parameters implemented.
Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled.
The  transmission mode is defined by sub-index 2.
An inhibit time can be defined on sub-index 3 in 100 us.
At the 5th sub-index can be defined a event time for asynchron pdos.
Object Description
INDEX 1400
Name Receive PDO Communication Parameter 1
Object Code Record
Data Type PDO_COMM_PAR
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x02
Lower Limit 0x02
Upper Limit 0x05
Unit -
Sub-Index 001
Description COB-ID
Entry Category Optional
Data Type UNSIGNED32
Access RW
PDO Mapping No
Default Value 0x00000200
Lower Limit 0x00000001
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Transmission Type
Entry Category Optional
Data Type UNSIGNED8
Access RW
PDO Mapping No
Default Value 0xFE
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Object 1401h: Receive PDO Communication Parameter 2
It contains the communication parameters of the current PDO
the device is able to receive.
Sub-index 0 contains the number of PDO-parameters implemented.
Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled.
The  transmission mode is defined by sub-index 2.
An inhibit time can be defined on sub-index 3 in 100 us.
At the 5th sub-index can be defined a event time for asynchron pdos.
Object Description
INDEX 1401
Name Receive PDO Communication Parameter 2
Object Code Record
Data Type PDO_COMM_PAR
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x02
Lower Limit 0x02
Upper Limit 0x05
Unit -
Sub-Index 001
Description COB-ID
Entry Category Optional
Data Type UNSIGNED32
Access RW
PDO Mapping No
Default Value 0x00000300
Lower Limit 0x00000001
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Transmission Type
Entry Category Optional
Data Type UNSIGNED8
Access RW
PDO Mapping No
Default Value 0xFE
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Object 1600h: Receive PDO Mapping Parameter 1
The sub-indices contain the indices, the sub-indices and the
lengths of the mapped sub-indices.

Their structure is as follows:
index (16bit)   sub-index (8bit)   length (8bit)
Object Description
INDEX 1600
Name Receive PDO Mapping Parameter 1
Object Code Record
Data Type PDO_MAPPING
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Mandatory
Access RO
PDO Mapping No
Default Value 0x01
Lower Limit 0x0
Upper Limit 0x40
Unit -
Sub-Index 001
Description Mapping Entry 1
Entry Category Optional
Data Type UNSIGNED32
Access RO
PDO Mapping No
Default Value 0x20000010
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Object 1601h: Receive PDO Mapping Parameter 2
The sub-indices contain the indices, the sub-indices and the
lengths of the mapped sub-indices.

Their structure is as follows:
index (16bit)   sub-index (8bit)   length (8bit)
Object Description
INDEX 1601
Name Receive PDO Mapping Parameter 2
Object Code Record
Data Type PDO_MAPPING
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Mandatory
Access RO
PDO Mapping No
Default Value 0x03
Lower Limit 0x0
Upper Limit 0x40
Unit -
Sub-Index 001
Description Mapping Entry 1
Entry Category Optional
Data Type UNSIGNED32
Access RO
PDO Mapping No
Default Value 0x20000010
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Mapping Entry 2
Entry Category Optional
Data Type UNSIGNED32
Access RO
PDO Mapping No
Default Value 0x20020008
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 003
Description Mapping Entry 3
Entry Category Optional
Data Type UNSIGNED32
Access RO
PDO Mapping No
Default Value 0x20030020
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Object 1800h: Transmit PDO Communication Parameter 1
It contains the communication parameters of the current PDO
the device is able to transmit.
Sub-index 0 contains the number of PDO-parameters implemented.
Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled.
The transmission mode is defined by sub-index 2.
An inhibit time can be defined on sub-index 3 in 100 us.
At the 5th sub-index can be defined a event time for asynchron pdos.
Object Description
INDEX 1800
Name Transmit PDO Communication Parameter 1
Object Code Record
Data Type PDO_COMM_PAR
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x02
Lower Limit 0x02
Upper Limit 0x06
Unit -
Sub-Index 001
Description COB-ID
Entry Category Optional
Data Type UNSIGNED32
Access RW
PDO Mapping No
Default Value 0x00000180
Lower Limit 0x00000001
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Transmission Type
Entry Category Optional
Data Type UNSIGNED8
Access RW
PDO Mapping No
Default Value 0xFE
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Object 1801h: Transmit PDO Communication Parameter 2
It contains the communication parameters of the current PDO
the device is able to transmit.
Sub-index 0 contains the number of PDO-parameters implemented.
Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled.
The transmission mode is defined by sub-index 2.
An inhibit time can be defined on sub-index 3 in 100 us.
At the 5th sub-index can be defined a event time for asynchron pdos.
Object Description
INDEX 1801
Name Transmit PDO Communication Parameter 2
Object Code Record
Data Type PDO_COMM_PAR
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x02
Lower Limit 0x02
Upper Limit 0x06
Unit -
Sub-Index 001
Description COB-ID
Entry Category Optional
Data Type UNSIGNED32
Access RW
PDO Mapping No
Default Value 0x00000280
Lower Limit 0x00000001
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Transmission Type
Entry Category Optional
Data Type UNSIGNED8
Access RW
PDO Mapping No
Default Value 0xFE
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Object 1A00h: Transmit PDO Mapping Parameter 1
Contains the mapping for the PDOs the device is able to transmit.
The type of the PDO mapping parameter is at index 21h.
The subindex 0h contains the number of valid entires within the mapping record.
This number of entries is also the number of the application variables
which shall be transmitted with the corresponding PDO.
The subindicex from 1h to number of entries contain the information
about the mapped application variables.
These entries describe the PDO contents by their index, subindex and length.
Allthree values are hexa-decimal coded.
The length entry contains the length of the object in bits (1..40h).
This parameter can be used to verify the overall mapping length. It is mandatory.
Object Description
INDEX 1A00
Name Transmit PDO Mapping Parameter 1
Object Code Record
Data Type PDO_MAPPING
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Mandatory
Access RO
PDO Mapping No
Default Value 0x02
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Sub-Index 001
Description Mapping Entry 1
Entry Category Optional
Data Type UNSIGNED32
Access RO
PDO Mapping No
Default Value 0x20010010
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Mapping Entry 2
Entry Category Optional
Data Type UNSIGNED32
Access RO
PDO Mapping No
Default Value 0x20070010
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Object 1A01h: Transmit PDO Mapping Parameter 2
Contains the mapping for the PDOs the device is able to transmit.
The type of the PDO mapping parameter is at index 21h.
The subindex 0h contains the number of valid entires within the mapping record.
This number of entries is also the number of the application variables
which shall be transmitted with the corresponding PDO.
The subindicex from 1h to number of entries contain the information
about the mapped application variables.
These entries describe the PDO contents by their index, subindex and length.
Allthree values are hexa-decimal coded.
The length entry contains the length of the object in bits (1..40h).
This parameter can be used to verify the overall mapping length. It is mandatory.
Object Description
INDEX 1A01
Name Transmit PDO Mapping Parameter 2
Object Code Record
Data Type PDO_MAPPING
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Mandatory
Access RO
PDO Mapping No
Default Value 0x03
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Sub-Index 001
Description Mapping Entry 1
Entry Category Optional
Data Type UNSIGNED32
Access RO
PDO Mapping No
Default Value 0x20010010
Lower Limit 0x00000000
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Mapping Entry 2
Entry Category Optional
Data Type UNSIGNED32
Access RO
PDO Mapping No
Default Value 0x20050008
Lower Limit 0x00000000
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 003
Description Mapping Entry 3
Entry Category Optional
Data Type UNSIGNED32
Access RO
PDO Mapping No
Default Value 0x20060020
Lower Limit 0x00000000
Upper Limit 0xFFFFFFFF
Unit -

Manufacturer Segment

Object 2000h: can_control
Description:	CANopen Control Word
Function:		Device Control

Bit Meaning:	Bit 0...6	reserved
		Bit 7	Error Reset
		Bit 8	Halt
		Bit 9...15	reserved
Object Description
INDEX 2000
Name can_control
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RW
PDO Mapping Yes
Default Value 0x00
Lower Limit 0x0000
Upper Limit 0xFFFF
Unit -
Object 2001h: can_status
Description:	CANopen Status Word 
Function:		Status of Device

Bit Meaning:	Bit 0...2		reserved
		Bit 3		Error
		Bit 4		reserved
		Bit 5		Halt
		Bit 6...7		reserved
		Bit 8		reserved for User Extension
		Bit 9		reserved
		Bit 10		Target reached
		Bit 11...15	reserved
Object Description
INDEX 2001
Name can_status
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RW
PDO Mapping Yes
Default Value 0x00
Lower Limit 0x0000
Upper Limit 0xFFFF
Unit -
Object 2002h: can_command
Description:	CANopen Command Specifier

Function:		selects the command of device

Meaning:		01 [hex]	move absolute
		02	move relative
		03	stop motion
		04	continue motion
		05	reference motion
		06	position limit (only for reference motion)
		07	set position to zero
		08	velocity profile
		09	set acceleration
		0A	set start velocity
		0B	set end velocity
		0C	set steps per revolution
		0D	set motor current
		0E	set current reduction
		0F	current limit (only DC-Motor)
		10	---
		11	gear ratio		numerator
		12	gear ratio		denominator
		13	user units		mm/revolution
		14	user units		units in 1/1, 1/10, 1/100 mm
		15	send status
		16	clear error
		17	send actual position
Object Description
INDEX 2002
Name can_command
Object Code Variable
Data Type UNSIGNED8
Category Optional
Entry Description
Access RW
PDO Mapping Yes
Default Value 0x00
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Object 2003h: can_argument
Description:	CANopen Command Argument

Function:		Argument for Command
Object Description
INDEX 2003
Name can_argument
Object Code Variable
Data Type INTEGER32
Category Optional
Entry Description
Access RW
PDO Mapping Yes
Default Value 0x0
Lower Limit 0x80000000
Upper Limit 0x7FFFFFFF
Unit -
Object 2004h: error_id
Description:	Device [Manufakturer] Error Code
		separated in 2 Bytes
		MSB:	error group 1...4
		LSB:	error number
Function:		Info about Error Condition

Meaning of error number [only LSB relevant]:
		00 [hex]	no error
		02	system error
		06	parameter error
		14	power stage defect
		15	over current
		16	problem in hall sensors
		1C	wrong connection on limit switch
		29	unknown command
		2A	wrong parameter
		2C	command overrun
		3C	over temperature
		3D	following error
		3E	under voltage
		44	motion over limit switch
		45	external stop input was active
Object Description
INDEX 2004
Name error_id
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RO
PDO Mapping No
Default Value 0x00
Lower Limit 0x0000
Upper Limit 0xFFFF
Unit -
Object 2005h: can_dataid
Description:	CANopen Device Data Identifier

Function:		Identification of data in can_devicedata [index 2006]

Meaning:		1:	data is absolute position
		2:	data is relative   position
		3.....	not yet defined
Object Description
INDEX 2005
Name can_dataid
Object Code Variable
Data Type UNSIGNED8
Category Optional
Entry Description
Access RW
PDO Mapping Yes
Default Value 0x00
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Object 2006h: can_devicedata
Description:	Data from Device to Master
Object Description
INDEX 2006
Name can_devicedata
Object Code Variable
Data Type INTEGER32
Category Optional
Entry Description
Access RW
PDO Mapping Yes
Default Value 0x00
Lower Limit 0x80000000
Upper Limit 0x7FFFFFFF
Unit -
Object 2007h: can_usrextin
Description:	User Data Extension from Devise to Master
		reserved:  for future user extensions
Object Description
INDEX 2007
Name can_usrextin
Object Code Variable
Data Type INTEGER16
Category Optional
Entry Description
Access RW
PDO Mapping Yes
Default Value 0x0
Lower Limit 0x0
Upper Limit 0x7FFF
Unit -




This document was created using Design Tool of
port GmbH, Regensburger Str. 7b, 06132 Halle, 18 Aug 2008