Siko AP10 - Display and Control Keys; Display Features (LCD & LED); Control Key Functions; Functional Description

AP10 Date: 28.02.2022 Art. No. 86853 Mod. status 37/22 Page 3 of 78
5.3 Process data exchange ............................................................................................ 20
5.3.1 Transfer of Process Data Objects (PDO) ................................................................... 20
5.3.1.1 Transmit PDO (from AP10 to the master) ............................................................. 20
5.3.1.2 Receive-PDO (from master to AP10) ................................................................... 21
5.3.2 Control word ...................................................................................................... 21
5.3.3 Status word ........................................................................................................ 22
5.4 Parameter data exchange ......................................................................................... 23
5.4.1 Transfer of Service data objects (SDO) .................................................................... 23
5.4.2 Error Response .................................................................................................... 25
5.4.3 Examples of SDO access........................................................................................ 25
5.5 Node monitoring .................................................................................................... 26
5.5.1 Emergency Service (EMCY) .................................................................................... 26
5.5.2 Node Guarding .................................................................................................... 27
5.5.3 Heartbeat .......................................................................................................... 28
5.5.4 External heartbeat ............................................................................................... 28
5.5.5 Guarding Bit ....................................................................................................... 28
5.6 Auto functions ....................................................................................................... 29
5.6.1 Auto-Baud ......................................................................................................... 29
5.6.2 Auto-ID ............................................................................................................. 29
5.7 Directory of objects ................................................................................................ 31
5.7.1 Overview of objects ............................................................................................. 31
5.7.2 Description of objects .......................................................................................... 33
5.7.2.1 1000h: Device Type .......................................................................................... 33
5.7.2.2 1001h: Error Register ....................................................................................... 34
5.7.2.3 1002h: Manufacturer Status Register .................................................................. 34
5.7.2.4 1003h: Pre-defined Error Field ........................................................................... 34
5.7.2.5 1005h: COB-ID SYNC message ............................................................................ 35
5.7.2.6 1008h: Manufacturer Device Name ..................................................................... 36
5.7.2.7 1009h: Manufacturer Hardware Version ............................................................... 36
5.7.2.8 100Ah: Manufacturer Software Version ................................................................ 36
5.7.2.9 100Ch: Guard Time ........................................................................................... 37
5.7.2.10 100Dh: Life Time Factor .................................................................................... 37
5.7.2.11 1010h: Store Parameter .................................................................................... 37
5.7.2.12 1011h: Restore Parameter ................................................................................. 40
5.7.2.13 1014h: COB-ID Emergency Message .................................................................... 42
5.7.2.14 1017h: Producer Heartbeat Time ........................................................................ 42
5.7.2.15 1018h: Identity Object ..................................................................................... 42
5.7.2.16 1200h: Server SDO Parameter ............................................................................ 44
5.7.2.17 1400h: 1. Receive PDO Parameter ...................................................................... 44
5.7.2.18 1401h: 2. Receive PDO Parameter ...................................................................... 46
5.7.2.19 1600h: 1. Receive PDO Mapping Parameter .......................................................... 47
5.7.2.20 1601h: 2. Receive PDO Mapping Parameter .......................................................... 48
5.7.2.21 1800h: 1. Transmit PDO Parameter ..................................................................... 49
5.7.2.22 1801h: 2. Transmit PDO Parameter ..................................................................... 50