Invertek Compact 2 Series - Page 40

Optidrive Compact-2 Engineering Guide Issue 07.docx
40
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9
Serial Communications
9.3.3. CAN Specific Object Table
Index
Sub
Index
Function
Access
Type
PDO
Map
Default Value
1000h
0
Device Type
R
U32
N
0
1001h
0
Error Register
R
U8
N
0
1002h
0
Manufacturer Status Register
R
U16
N
0
1005h
0
COB-ID Sync
RW
U32
N
00000080h
1008h
0
Manufacturer Device Name
R
String
N
1009h
0
Manufacturer Hardware Version
R
String
N
x.xx
100Ah
0
Manufacturer Software Version
R
String
N
x.xx
100Ch
0
Guard Time (1ms)
RW
U16
N
0
100Dh
0
Life Time Factor
RW
U8
N
0
1014h
0
COB-ID EMCY
RW
U32
N
00000080h+Node ID
1015h
0
Inhibit Time Emergency (100μs)
RW
U16
N
0
1017h
0
Producer Heartbeat Time (1ms)
RW
U16
N
0
1018h
0
Identity Object No. Of entries
R
U8
N
4
1
Vendor ID
R
U32
N
0x0000031A
2
Product Code
R
U32
N
Drive Dependent
3
Revision Number
R
U32
N
x.xx
4
Serial Number
R
U32
N
Drive Dependent
1200h
0
SDO Parameter No. Of entries
R
U8
N
2
1
COB-ID Client -> Server (RX)
R
U32
N
00000600h+Node ID
2
COB-ID Server -> Client (TX)
R
U32
N
00000580h+Node ID
1400h
0
RX PDO1 comms param. no. of entries
R
U8
N
2
1
RX PDO1 COB-ID
RW
U32
N
40000200h+Node ID
2
RX PDO transmission type
RW
U32
N
254
1401h
0
RX PDO2 comms param. no. of entries
R
U8
N
2
1
RX PDO2 COB-ID
RW
U32
N
C0000300h+Node ID
2
RX PDO2 transmission type
RW
U8
N
0
1600h
0
RX PDO1 1 mapping / no. of entries
RW
U8
N
4
1
RX PDO1 1st mapped object
RW
U32
N
20000010h
2
RX PDO1 2nd mapped object
RW
U32
N
20010010h
3
RX PDO1 3rd mapped object
RW
U32
N
20030010h
4
RX PDO1 4th mapped object
RW
U32
N
00060010h
1601h
0
RX PDO2 1 mapping / no. of entries
RW
U8
N
4
1
RX PDO2 1st mapped object
RW
U32
N
00060010h
2
RX PDO2 2nd mapped object
RW
U32
N
00060010h
3
RX PDO2 3rd mapped object
RW
U32
N
00060010h
4
RX PDO2 4th mapped object
RW
U32
N
00060010h
1800h
0
TX PDO1 comms parameter number of entries
R
U8
N
3
1
TX PDO1 COB-ID
RW
U32
N
40000180h+Node ID
2
TX PDO1 transmission type
RW
U8
N
254
3
TX PDO1 Inhibit time (100μs)
RW
U16
N
0
1801h
0
TX PDO2 comms parameter no. of entries
R
U8
N
3
1
TX PDO2 COB-ID
RW
U32
N
C0000280h+Node ID
2
TX PDO2 transmission type
RW
U8
N
0
3
TX PDO2 Inhibit time (100μs)
RW
U16
N
0
1A00h
0
TX PDO1 mapping / no. of entries
RW
U8
N
4
1
TX PDO1 1st mapped object
RW
U32
N
200A0010h
2
TX PDO1 2nd mapped object
RW
U32
N
200B0010h
3
TX PDO1 3rd mapped object
RW
U32
N
200D0010h
4
TX PDO1 4th mapped object
RW
U32
N
20100010h
1A01h
0
TX PDO2 mapping / no. of entries
RW
U8
N
4
1
TX PDO2 1st mapped object
RW
U32
N
20110010h
2
TX PDO2 2nd mapped object
RW
U32
N
20120010h
3
TX PDO2 3rd mapped object
RW
U32
N
20130010h
4
TX PDO2 4th mapped object
RW
U32
N
20140010h