HMS CM CANopen - Page 4

Table of Contents
Chapter 7 Supported Objects
Static Data Types.................................................................................................................................... 26
Communication Profile Area................................................................................................................ 26
CiA 301 Communication Profile Objects....................................................................................... 26
Configuration Manager .................................................................................................................. 29
Network Management Objects ....................................................................................................... 30
Manufacturer Specific Objects............................................................................................................. 36
I/O Buffer Addresses and Object Dictionary Indices Relation ........................................................ 41
Chapter 8 Interface Functions
CANopen Interface Functions ............................................................................................................ 43
Get Process Data In ...................................................................................................................... 43
Set Process Data Out..................................................................................................................... 44
SDO Read/Write......................................................................................................................... 45
Get Node & Network Status ....................................................................................................... 46
Transparent CAN Interface Functions............................................................................................... 48
CAN_SEND ............................................................................................................................. 48
CAN_RCV ................................................................................................................................ 49
CAN_CTRL .............................................................................................................................. 50
Get Diagnostic Information............................................................................................................ 52
Appendix A Technical Specification
Mechanical Properties............................................................................................................................ 54
Environmental Characteristics ............................................................................................................. 54
Regulatory Compliance ......................................................................................................................... 55
Appendix B Status LED Timing Diagrams
Appendix C CANopen Emergency Codes
Appendix D Error Codes (RET)
Function Block Error Codes ................................................................................................................ 59
Message Error Codes............................................................................................................................. 60