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User manual SCAIME: NU-soft-eNod4B-E-0716_236704-C.doc

5.5 eNod4 status remote management ........................................................... 19

5.5.1 NMT commands .................................................................................... 19

5.5.2 Synchronization messages ................................................................... 19

5.5.3 Emergency messages .......................................................................... 19

5.6 Error control services .................................................................................... 19

5.6.1 Heartbeat and boot-up ........................................................................ 19

5.6.2 Node guarding ...................................................................................... 19

5.7 Access to the object dictionary ................................................................. 19

5.7.1 SDO communication ............................................................................ 19

5.7.2 PDO communications ........................................................................... 19

5.8 CANopen command and response registers ........................................... 19

5.9 Communication objects .............................................................................. 19

5.9.1 0x1001 / 0x00 : error register ................................................................ 19

5.9.2 0x1003 : Pre-defined error field ............................................................ 19

5.9.3 0x1005 / 0x00 : synchronization messages COB-ID .......................... 19

5.9.4 0x100C / 0x00 : guard time .................................................................. 19

5.9.5 0x100D / 0x00 : life time factor ............................................................ 19

5.9.6 0x1010 : Store parameters .................................................................... 19

5.9.7 0x1014 / 0x00 : Emergency COB-ID .................................................... 19

5.9.8 0x1016 : Heartbeat consumer time ..................................................... 19

5.9.9 0x1017 / 0x00 : Heartbeat producer time ........................................... 19

5.9.10 0x4800 : Safety mode ......................................................................... 19

5.9.11 Error behavior ...................................................................................... 19

5.10 PDO-related communication objects ...................................................... 19

5.10.1 RPDO default mapping ....................................................................... 19

• 0x1600 : RPDO1 mapping parameters ........................................................... 19

• 0x1601 : RPDO2 mapping parameters ........................................................... 19

• 0x1602 : RPDO3 mapping parameters ........................................................... 19

• 0x1603 : RPDO4 mapping parameters ........................................................... 19

• 0x1604 : RPDO5 mapping parameters ........................................................... 19

5.11 Product identification ................................................................................. 19

• 0x1009 : Manufacturer hardware version ...................................................... 19

• 0x100A : Manufacturer software version........................................................ 19

• 0x1018 : Identity object ................................................................................... 19

5.12 Measurement transmission ........................................................................ 19

5.13 EEPROM error management ...................................................................... 19

6 CANOPEN TPDO MAPPING .................................................................................. 36

• 0x1A00 : TPDO1 mapping parameters ........................................................... 36

• 0x1A01 : TPDO2 mapping parameters ........................................................... 36

• 0x1A02 : TPDO3 mapping parameters ........................................................... 37

7 PROFIBUS DPV1 ..................................................................................................... 38

7.1 Physical interface ......................................................................................... 19

7.2 GSD file .......................................................................................................... 19

7.3 Cyclic exchanges ........................................................................................ 19

7.3.1 Cyclic inputs modules .......................................................................... 19

7.3.2 Cyclic inputs/outputs modules ............................................................ 19

7.4 Acyclic exchanges ...................................................................................... 19

7.5 eNod4 Profibus DP features ......................................................................... 19

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