Siko AG06 - Page 4

AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 4 of 114
9.8 Flowchart of the Profile Velocity Mode operation mode (velocity mode) ......................... 57
9.9 Examples ............................................................................................................... 58
9.9.1 Example of the Profile Position Mode (positioning mode) ......................................... 58
9.9.2 Example of the Profile Velocity Mode (velocity mode)............................................... 58
9.10 Overview of CANopen identifiers ............................................................................... 59
9.11 Setting the CAN baud rate ....................................................................................... 59
9.12 EDS file ................................................................................................................. 60
9.13 Directory of objects ................................................................................................ 60
9.13.1 Overview of objects ............................................................................................. 60
9.13.2 Description of objects .......................................................................................... 63
9.13.2.1 1000
h
: Device Type .......................................................................................... 63
9.13.2.2 1001
h
: Error Register ........................................................................................ 64
9.13.2.3 1002
h
: Manufacturer Status Register ................................................................... 64
9.13.2.4 1003
h
: Pre-defined Error Field ............................................................................ 65
9.13.2.5 1005
h
: COB-ID Sync Message ............................................................................. 65
9.13.2.6 1008
h
: Manufacturer Device Name ...................................................................... 66
9.13.2.7 100A
h
: Manufacturer Software Version ................................................................ 66
9.13.2.8 100C
h
: Guard Time ........................................................................................... 67
9.13.2.9 100D
h
: Life Time Factor .................................................................................... 67
9.13.2.10 1011
h
: Restore Default Parameters ..................................................................... 67
9.13.2.11 1014
h
: COB-ID Emergency Message ..................................................................... 69
9.13.2.12 1017
h
: Producer Heartbeat Time ......................................................................... 70
9.13.2.13 1018
h
: Identity Object ...................................................................................... 70
9.13.2.14 1200
h
: Server SDO Parameter ............................................................................. 72
9.13.2.15 1400
h
: 1
st
Receive PDO Parameter ....................................................................... 73
9.13.2.16 1401
h
: 2
nd
Receive PDO Parameter ...................................................................... 75
9.13.2.17 1402
h
: 3
rd
Receive PDO Parameter ....................................................................... 76
9.13.2.18 1403
h
: 4
th
Receive PDO Parameter ...................................................................... 78
9.13.2.19 1600
h
: 1
st
Receive PDO Mapping Parameter .......................................................... 80
9.13.2.20 1601
h
: 2
nd
Receive PDO Mapping Parameter ......................................................... 80
9.13.2.21 1602
h
: 3
rd
Receive PDO Mapping Parameter .......................................................... 81
9.13.2.22 1603
h
: 4
th
Receive PDO Mapping Parameter .......................................................... 82
9.13.2.23 1800
h
: 1
st
Transmit PDO Parameter ..................................................................... 83
9.13.2.24 1801
h
: 2
nd
Transmit PDO Parameter ..................................................................... 85
9.13.2.25 1802
h
: 3
rd
Transmit PDO Parameter ..................................................................... 86
9.13.2.26 1803
h
: 4
th
Transmit PDO Parameter ..................................................................... 88
9.13.2.27 1A00
h
: 1
st
Transmit PDO Mapping Parameter ........................................................ 91
9.13.2.28 1A01
h
: 2
nd
Transmit PDO Mapping Parameter ........................................................ 91
9.13.2.29 1A02
h
: 3
rd
Transmit PDO Mapping Parameter ........................................................ 92
9.13.2.30 1A03
h
: 4
th
Transmit PDO Mapping Parameter ........................................................ 93
9.13.2.31 2001
h
: Manufacturer Offset ............................................................................... 94
9.13.2.32 2100
h
: CAN baud rate ....................................................................................... 94
9.13.2.33 2101
h
: Node-ID ............................................................................................... 95
9.13.2.34 2102
h
: Gear reduction ...................................................................................... 95