EN
Table of Contents
1.0 User Information 4
1.1 Symbols Used 4
1.2 Important Information 4
1.3 Intended Use 4
1.4 Abbreviations 4
2.0 Scope of Supply 6
3.0 CANopen Connection 6
3.1 Connection Example 6
4.0 CANopen Objects 7
4.1 Communication Objects 7
4.1.1 General Communication Objects 7
Object 0x1000 : Device Type 7
Object 0x1001 : Error Register 7
Object 0x1003 : Predefined Error Field 7
Object 0x1005 : COB ID SYNC 7
Object 0x1008 : Manufacturer device name 8
Object 0x1010 : Store parameters 8
Object 0x1011 : Restore default parameters 8
Object 0x1014 : COB ID EMCY 8
Object 0x1015 : Inhibit Time Emergency 8
Object 0x1016 : Consumer Heartbeat Time 9
Object 0x1017 : Producer Heartbeat Time 9
Object 0x1018 : Identity Object 9
Object 0x1029 : Error behaviour 10
4.1.2 SDO Parameters 10
Object 0x1200 : Server SDO Parameter 10
4.1.3 Receive PDO Parameter and Mapping Objects 11
Object 0x1400 : Receive PDO Communication Parameter 11
Object 0x1600 : Receive PDO Mapping Parameter 11
4.1.4 Transmit PDO Parameters and Mapping Objects 12
Object 0x1800 : Transmit PDO Communication Parameter 12
Object 0x1a00 : Transmit PDO Mapping Parameter 12
4.2 Manufacturer-specific Objects 13
Object 0x3000 : parameter 13
4.3 Standardized Device Objects (CiA 402 Drives and Motion Control) 29
Object 0x603f : error_code 29
Object 0x6040 : Controlword 29
Object 0x6041 : Statusword 30
Object 0x6042 : vl_target_velocity 30
Object 0x6043 : vl_velocity_demand 30
Object 0x6044 : vl_velocity_actual_value 30
Object 0x6046 : vl_velocity_min_max_amount 31
Object 0x6048 : vl_velocity_acceleration 31
Object 0x6049 : vl_velocity_decceleration 32
Objekt 0x6402 : motor_type 32
Object 0x6502 : supported_drive_modes 32
5.0 State Machine 33
6.0 Notes on PDO Functionality 34
Warranty Conditions 35
