26
Curtis 1356/1356P CAN Expansion Module Manual, Rev. A
TYPES OF SDO OBJECTS
ree types of SDO objects are described in the following pages: Communications
Prole Objects, Programmable Parameter Objects, and Monitor Parameter Objects.
COMMUNICATION PROFILE OBJECTS
e Communication Prole Objects are shown below in Table 2.
5 — SDO: Communication Profile Objects
Table 2 Communication Prole Object Dictionary
range
name access index sub-index can value description
DeviceType RO 0x1000 0x00 0x00000000 PredenedtypeofCANmodule(I/O).
Error Register
RO 0x1001 0x00 0 or 1
= 0 if there are no errors
= 1 if there is an error
Manufacturer’sStatus
RO 0x1002 0x00 2 bytes
The value of the Status Register.
Register 1 See Table 2a for more details.
RW 0x00 0x10
Length of this object. Clear fault log
Fault Log
by writing 0 into this address.
(pre-denederror
0x1003
Contains an array of 16 fault code
eld)
RO 0x01-0x10 4 bytes and time stamps as reported by the
Emergency Message.
Node ID of this 1356 /1356P. This
Object is not part of the CANopen
Node ID RW 0x100B 0x00 0x01 – 0x7F
mandatory dictionary. Must cycle
power or send an NMT Reset
1356 /1356P or NMT Reset CAN
for new ID to take full effect.
1356 /1356P supports the mandatory
Store Parameters RW 0x1010 0x00 4 bytes Save All Parameters sub-index. See
Table 2b for more details.
Restore Default
RW
0x1011
0x00 4 bytes
Controls normal, factory, or backup
Parameters restore. See Table 2c for more details.
0x00000080
11-bitIdentieroftheEmergency
Emergency COB ID RO 0x1014 0x00
–0x000000FF
Message. Only the lowest 11 bits are
valid. All other bits must be 0.
Sets the minimum time that must
0 – 1000 ms elapse before another Emergency
Emergency Rate RW 0x1015 0x00 0 – 1000 Message can be sent by the
in 4ms steps 1356 /1356P. A setting of 0 disables
the Emergency Message.
0 – 1000 ms Sets the cyclic repetition rate of the
Heartbeat Rate RW 0x1017 0x00 0 – 1000 Heartbeat Message.
in 4ms steps A setting of 0 disables the Heartbeat.
To Next Page
Loading...