16 YASKAWA ELECTRIC SIEP C730600 24A V1000 Option CANopen Technical Manual
7 Communication Objects Overview
7 Communication Objects Overview
The Object Dictionary is essentially a group of objects accessible via the network in an ordered pre-defined fashion. Each object uses a 16 bit index.
The Object Dictionary consists of three sections:
• Communications Profile (index numbers 1000 - 1FFF) contains objects related to the CANopen network, which are shared with each device.
• Manufacturer Profile (index numbers 2000 - 5FFF) concerns objects that have been set for manufacturer-specific functions. These objects are
specific to Yaskawa products, and therefore are not compatible with other productsthat may be CANopen.
• Drive and Motion Profile (index numbers 6000 - 9FFF) includes data objects shared among all device classes that can read and write across the
network. SI-S3/V is compatible with DSP 402 Drive and Motion Control Profile and Velocity Mode.
◆ Communication Objects (DS 301)
◆ Manufacturer Specific Objects (DS 301)
■ Input Objects
■ Output Objects
Index (Hex.) Name Page
1000 Device Type 18
1001 Error Register 18
1003 Pre-defined Error Field 18
1005 COB-ID SYNC Message 18
1008 Manufacturer Device Name 18
1009 Manufacturer Hardware Version 18
100A Manufacturer Software Version 18
100C Guard Time 18
100D Life Time Factor 18
100E Node Guarding Identifier 18
1010 Store Parameters 19
1011 Restore Default Parameters 19
1014 COB-ID Emergency Object 19
1016 Consumer Heartbeat Time 19
1017 Producer Heartbeat Time 19
1018 Identity Object 19
Index (Hex.) Name Page
2000 Operation Command 19
2010 Speed Command 19
2020 Torque Limit 19
2030 Torque Compensation 20
2040 MEMOBUS Read Command 20
2050 MEMOBUS Write Command 20
2060 MEMOBUS Not Limited Enter Command 20
2070 MEMOBUS Limited Enter Command 20
Index (Hex.) Name Page
2100 Drive Status 20
2110 Output Frequency 21
2120 Output Current 21
2130 Output Torque 21
2140 MEMOBUS Read Command Response 21
2150 MEMOBUS Write Command Response 21
2160 MEMOBUS Not Limited Enter Command Response 21
2200 Motor Speed 21
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