Version 3.00 | Optidrive P2 User Guide | 65www.invertekdrives.com
9.3.6. CAN Open Specific Object Table
Index Sub index Function Access Type PDO Map Default value
1000h 0 Device type
RO Unsigned 32
N 0
1001h 0 Error register
RO Unsigned 8
N 0
1002h 0 Manufacturer status register
RO Unsigned 16
N 0
1005h 0 COB-ID Sync
RW Unsigned 32
N 00000080h
1008h 0 Manufacturer device name RO String N ODP2
1009h 0 Manufacturer hardware version RO String N x.xx
100Ah 0 Manufacturer software version RO String N x.xx
100Ch 0 Guard time [1ms] RW Unsigned 16 N 0
100Dh 0 Life time factor RW Unsigned 8 N 0
1014 h 0 COB-ID EMCY RW Unsigned 32 N 00000080h+Node ID
1015 h 0 Inhibit time emergency [100us] RW Unsigned 16 N 0
1017 h 0 Producer heart beat time [1ms] RW Unsigned 16 N 0
1018h
0 Identity object No. of entries RO Unsigned 8 N 4
1 Vendor ID RO Unsigned 32 N 0x0000031A
2 Product code RO Unsigned 32 N Drive depended
3 Revision number RO Unsigned 32 N x.xx
4 Serial number RO Unsigned 32 N e.g. 1234/56/789
1200h
0 SDO parameter No. of entries RO Unsigned 8 N 2
1 COB-ID client -> server (RX) RO Unsigned 32 N 00000600h+Node ID
2 COB-ID server -> client (TX) RO Unsigned 32 N 00000580h+Node ID
1400h
0 RX PDO1 comms param No. of entries RO Unsigned 8 N 2
1 RX PDO1 COB-ID RW Unsigned 32 N 40000200h+Node ID
2 RX PDO1 transmission type RW Unsigned 8 N 254
1401h
0 RX PDO2 comms param No. of entries RO Unsigned 8 N 2
1 RX PDO2 COB-ID RW Unsigned 32 N C0000300h+Node ID
2 RX PDO2 transmission type RW Unsigned 8 N 0
1600h
0 RX PDO1 mapping / No. of entries RW Unsigned 8 N 4
1 RX PDO1 1st mapped object RW Unsigned 32 N 20000010h
2 RX PDO1 2nd mapped object RW Unsigned 32 N 20010010h
3 RX PDO1 3rd mapped object RW Unsigned 32 N 20020010h
4 RX PDO1 4th mapped object RW Unsigned 32 N 20030010h
1601h
0 RX PDO2 mapping / No. of entries RW Unsigned 8 N 4
1 RX PDO2 1st mapped object RW Unsigned 32 N 00060010h
2 RX PDO2 2nd mapped object RW Unsigned 32 N 00060010h
3
RX PDO2 3rd mapped object
RW Unsigned 32 N 00060010h
4 RX PDO2 4th mapped object RW Unsigned 32 N 00060010h
1800h
0 TX PDO1 comms param No. of entries RO Unsigned 8 N 3
1 TX PDO1 COB-ID RW Unsigned 32 N 40000180h+Node ID
2 TX PDO1 transmission type RW Unsigned 8 N 254
3 TX PDO1 Inhibit time [100us] RW Unsigned 16 N 0
1801h
0 TX PDO2 comms param No. of entries RO Unsigned 8 N 3
1 TX PDO2 COB-ID RW Unsigned 32 N C0000280h+Node ID
2 TX PDO2 transmission type RW Unsigned 8 N 0
3 TX PDO2 Inhibit time [100us] RW Unsigned 16 N 0
9
Serial Communications
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