Axel CANDPSX - LIST of the SYSTEM PARAMETERS that CAN be MAPPED to Profibus-DP

CANDPSX user manual rev 2 Page 29 of 42
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6.4 LIST OF THE SYSTEM PARAMETERS THAT CAN BE MAPPED TO PROFIBUS-
DP
The next table contains the list of the system parameters that can be exchanged with the Profibus-
DP. For each system parameter, the size of memory occupied in PDP and the mapping value are
also indicated:
Parameter
Mapping
value
Bit
length
Direction
Description
1001h
10010008h
8
to PDP
CANopen Slave error register
1002h
10020020h
32
to PDP
CANopen Slave manufacturer status register
2010h
20100020h
32
to PDP
System alarms mask
2090h
20900010h
16
from PDP
CANopen Master control word
2091h
20910010h
16
to PDP
CANopen Master status word
2092h
20920008h
8
to PDP
CANopen Master state machine
2093h
20930020h
32
to PDP
CANopen Master check node presence
2094h
20940020h
32
to PDP
CANopen Master active node alarms
2095h
20950020h
32
to PDP
CANopen Master past node alarms
2096h
20960020h
32
from PDP
CANopen Master reset alarms
20A3h
20A30030h
48
from PDP
CANopen Master structure for handling SDO
requests
20A4h
20A40020h
32
to PDP
CANopen Master structure for handling results of
SDO requests
20A5h
20A50020h
32
from PDP
CANopen Master SDO buffer of data to be sent
20A6h
20A60020h
32
to PDP
CANopen Master SDO buffer of received data
20B3h
20B30020h
32
to PDP
CANopen Master mask for nodes in Node guarding
20B8h a 20BDh
20B80020h a
20BD0020h
32
to PDP
CANopen status of the nodes controlled by the
CANopen Master in group of 4 slaves
20C0h to 20D7h
20C00008h
to
20D70008h
8
to PDP
CANopen status of the nodes controlled by the
CANopen Master
20E0h to 20F7h
20E00010h
to
20F70010h
16
to PDP
Error code of emergency message from the nodes
controlled by the CANopen Master
Tab. .2: Table of the system parameters that can be mapped to PDP