Lust ServoOne - Communication Objects; Implemented DS01 Functionality; Object Directory of DS01; Setting the Device Parameters for Canopen

User Manual CANopen/EtherCAT
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[Chapter 6]
6 Setting the Device Parameters
for CANopen
6.1 Implemented DS301 functionality
6.1.1 Communication objects
Boot-up to DS301 V4.01 (Guarding boot-up via identifier 700h)
Four variably mappable TxPDOs (transmission type 1 to 240, 254 and 255dec
possible).
Four variably mappable RxPDOs (transmission type 1 to 240, 254 and 255dec
possible).
An SDO server - Pay attention to definition of time conditions (typical processing
time in device approx. 5 ms, depending on capacity utilisation)
One emergency object error code to DS402 plus manufacturer-specific error loca
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tion and number, operating hours of the device
One Sync object
NMT state machine to DS301
Node guarding and heartbeat (see below)
Processing cycle:
PDO protocols can be processed in a minimum cycle time of 1ms. If protocols
arrive faster, previous protocols are overwritten.
SDO protocols and NMT services are processed acyclically. Typical processing times
lie between 1 and 5 ms.
Initialisation values of the COB IDs based on Predefined Connection Set
Access to device parameters 2000h - 5FFFh (expedited/non-expedited).
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6.1.2 Object directory of DS301
For a full overview of the supported CAN objects of ServoOne refer to the EDS file.
Here you can refer to both the CANopen objects of DS301, DS402 and also the manuf
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acturer-specific objects of the device.
The following list shows an extract of the object directories with important DS301
objects. For these objects the transmission types or mapping, for example, are explained
below.
Object
No.
Object name
Object
Code
Type Attr.
0x1000 Device_Type VAR Unsigned32 ro
0x1001 Error_Register VAR Unsigned8 ro
0x1003
Pre-Defined_Error_Field One
subentry
ARRAY Unsigned32 ro
0x1005 COB-ID_SYNC VAR Unsigned32 rw
0x1006 Communication_Cycle_Period VAR Unsigned32 rw
0x1007 Synchronous_Window_Length VAR Unsigned32 rw
0x1008 Manufacturer device name String
0x1009 Manufacturer hardware version String
0x100A Manufacturer software version String
0x100C Guard_Time VAR Unsigned16
0x100D Life_Time_Factor VAR Unsigned8
0x1014
COD-ID_EMCY VAR Unsigned32
0x1017 Producer_Heartbeat_Time VAR Unsigned16 rw
0x1018
Identity_Object support all 4
entries (serial number, etc.)
RECORD Identity (23h) ro
Table Object directory