Topcon OPUS A6G2 - Page 329

329
OPUS Projektor Manual
CAN
o Abort SDO Transfer protocol
· NMT (Slave implementation)
o NMT transitions
o NMT states
· PDO Communication
o Asynchronous communication
o acyclic and cyclic communication
· EDS File
The following Features are NOT implemented:
· EMCY Messages
· Node Guarding
· Block transfer SDO communication
· RTR
· Sync producer
· Auto start
· RWR, RWW Access type
· Objects
Object Dictionary: Objects list
The following objects are implemented by default in the CANopen stack of the device:
Objects
0x1000 – Device Type
0x1001 – Error Register
0x1002 – Manufacturer Status Register
0x1003 – Pre-Defined Error field
0x1005 – COB-ID Sync message
0x1008 – Manufacturer Device Name
0x1009 – Manufacturer Hardware Version
0x100a – Manufacturer Software version
0x1012 – COB-ID Time Stamp Object
0x1014 – COB-ID Emergency Object
0x1016 – Consumer heartbeat time
0x1017 – Producer Heartbeat time
0x1018 – Identity Object
0x1200 – 0x127f – Server SDO parameter
0x1280 – 0x12ff – Client SDO Parameter
0x1400 – 0x15ff – Receive PDO Communication
Parameter
0x1600 – 0x17ff – Receive PDO Mapping Parameter
0x1800 – 0x19ff – Transmit PDO Communication
Parameter
0x1a00 – 0x1bff – Transmit PDO Mapping Parameter