Axel CANDPSX - Profibus DP; Canopen Slave; Canopen Object Dictionary for Communication Objects

CANDPSX user manual rev 2 Page 21 of 42
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Type-5 and type-6 CAN messages are active. To know how to program PDOs, see § 23.
4.3 PROFIBUS DP / CANOPEN SLAVE
In this operating mode, the CANDPSX module serves as a gateway, seen from the CAN side as a
CANopen slave that can be controlled by a standard CANopen Master.
The communication protocol complies with the CANopen standard as specified in the CiA Draft
Standard 301 (version 4.01 of 06/01/2000).
The available CANopen slave services are:
• NMT protocol
• Node Guarding protocol
• SDO protocol
• Emergency protocol
• 24 asynchronous PDOs of type 254 to be programmed in transmission
or reception
• Characteristics of communication according to the file CanDpsx.eds
The NMT status of the CANopen slave driver is published in the parameter 20B5h, which can be
mapped in the Profibus dual port (see § 28):
Property
Value
Parameter
20B5h
Logic View menu
All parameters/System/CANopen Slave
Data type
8 bit unsigned int
Measurement unit
--
Value
0 = boot up
1 = reset application
2 = reset communication
3 = initialising
4 = stopped
5 = operating
127 = pre-operating
Access
Read-only
4.3.1 CANopen object dictionary for communication objects
Index
Description
1000h
Device type
1001h
Error register
1002h
Manufacturer status register
1008h
Manufacturer device name
1009h
Manufacturer hardware version
100Ah
Manufacturer software version
100Ch
Guard time
100Dh
Life time factor
1018h
Identity object
Tab. .1: CANopen Object dictionary
The whole parameter database of CANDPSX is accessible via SDO.