HMS CM CANopen - Page 31

Supported Objects 27
Doc.Id. HMSI-216-117
CM CANopen Module for SIMATIC S7-1200
Doc.Rev. 1.00
1010h Store Parame-
ters
a
00h Largest subindex supported U8 RO 01h
01h Store all parameters U32 RW To save a configuration, write
“save” = 73 61 76 65h to this
object.
b
1011h Restore Param-
eters
a
00h Largest subindex supported U8 RO 01h
01h Restore all default parameters U32 RW To restore the default values of
a configuration, write “load” =
6C 6F 61 64h to this object.
c
1014h COB-ID EMCY 00h Defines the COB-ID of the
Emergency Object
U32 RW
1016h Consumer
Heartbeat Time
00h Largest subindex supported U8 RO 10h
01h - 10h The consumer heartbeat time
defines the expected heart
-
beat cycle time and has to be
higher than the correspond
-
ing producer heartbeat time.
Monitoring starts after the
reception of the first heart
-
beat. Not used if 0
U32 RW Node-ID + Heartbeat Time.
Bits 31-24: reserved
Bits 23-16: Node-ID
Bits 15-0: Heartbeat Time
Value must be a multiple of
1ms. (Min: 10 ms, max 32768
ms).
Up to 16 nodes can be moni-
tored.
1017h Producer Heart-
beat Time
00h Defines the cycle time of the
heartbeat. Not used if 0
U16 RW The time must be at least 10
ms and a multiple of 1 ms.
Max: 32768 ms.
1018h Identity object 00h Highest subindex supported U8 RO 04h
01h Vendor-ID U32 RO 1Bh (HMS Industrial Networks)
02h Product Code U32 RO 1Fh (CM CANopen Module for
SIMATIC S7-1200)
03h Revision Number U32 RO Current software revision
04h Serial Number U32 RO 32 bit serial number
1020h Verify Configu-
ration
00h Number of entries U8 RO -
01h Configuration date U32 RW -
02h Configuration time U32 RW -
1029h
Error Behavior
d
00h Number of entries U8 RO 01h
01h Communication Error.
Defined by CANopen (loss of
CAN messages, transmit
queue overrun, RPDO length
error, CAN-ID error, slave
guarding by master; guarding
time out, consumer heartbeat
time out)
U8 RW 00h (default): Change to NMT
state PRE_OPERATIONAL if
currently in NMT state OPER
-
ATIONAL.
01h: No change of NMT state.
02h: Change to NMT state
STOPPED.
02h Manufacturer Specific Error.
PLC changes from RUN to
STOP while CANopen man-
ager is in state OPERA-
TIONAL.
U8 CONST
1400h
...
143Fh
Receive PDO
parameter
00h Largest subindex supported U8 RO 02h
01h COB ID used by PDO U32 RW -
02h Transmission type U8 RW See “RPDO Transmission
Types” on page 23
Index Object Name subindex Description Type Access Notes