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USER MANUAL CR2040 IFM
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Top-down schematic of a vertical electronic device with multiple circular components and mounting ports (no text or symbols)Contenu
12.2.1 Device-specific CR2040....50
12.2.2 Device-specific CR2041....71
12.2.3 Device-specific CR2042....95
12.3 SDOs error messages 127
12.3.1 CR2040 127
12.3.2 CR2041 129
12.3.3 CR2042 131
FR
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Warning sign with exclamation mark inside a triangle on orange backgroundAVERTISSEMENT !
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Technical line drawings of mechanical components with cross-sectional views (no text or symbols)Surface de montage
5.3 Fixation
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Technical diagram showing mechanical assembly with directional arrows and component layout (no text or symbols)
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Pure mechanical diagram showing a vertical beam and diagonal line intersecting, with no text or symbols present.text_image
Technical diagram of a device rear panel with numbered labels pointing to various ports and connectors.Zone de raccordement
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Technical diagram of a device rear panel with labeled ports and an LCD display showing 7 portstext_image
Technical diagram of a device component with numbered parts labeled ①, ②, and ③Eléments de service
Prise M12, 5 pôles, codage A (Con. 1...8, CAN OUT)
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Technical diagram of a vertical electronic device with numbered components for identification9.2 CR2041
CR2041
Module d'E/S
TOR et analogique
Profi I de communication
LED E/S 16 x LED orange
LED Power (PWR) LED verte
LED Mode (M) LED verte
LED d'application (A...D)
LED Lock (symbole de cadenas)
LED de diagnostic (DIA)
Affichage
Prise M12, 5 pôles, codage A (Con. 1...8, CAN OUT)
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Technical diagram of a vertical electronic device with numbered components for identificationPrise M12, 5 pôles, codage A (Con. 1...8, CAN OUT)
The following error codes according to DSP-401 or DSP-301 are supported:
| EMCY code Error reg Additional code Description | |||
| 0x6100 0x11 0x00 "Internal Software | Overflow of an Rx queue e.g. frequency of the RxP-DOs is too high.Reset only externally via entry in the index 0x1003 Subldx 00." | ||
| 0x6101 0x11 0x00 "Internal Software | Overflow of an Tx queue e.g. device does not communicate with the bus.Reset only externally via entry in the index 0x1003 Subldx 00." | ||
| 0x8000 0x11 0x00 "Monitoring Sync Error | For communication cycle no sync object is received.Only in Operational. Reset with the next sync OBJ or PREOP" | ||
| 0x8100 0x11 0x00 Communication Err | |||
| 0x8131 0x11 0x00 "Monitoring Heart Beat Error | No guard object is received.Reset with the next Heart beat or PREOP" | ||
| 0x63xx 0x01 0x00 "Invalid parameter of an input or output.""xx"" means number of the IO-channel (00 ... 15)" | |||
| 0x5000 0x01 0x00 Memory Error | |||
| 0x3308 0x05 0x00 VBB2 error (only CR2041, CR2042) | |||
| 0x90xx 0x01 0x00 "Frequency input, Frequency too low""xx"" means number of the IO-channel (00 ... 15)" | |||
| 0x21xx 0x03 0x00 "Inputs, Openline""xx"" means number of the IO-channel (00 ... 15)" | |||
| 0x21xx 0x03 0x00 "Inputs, Short circuit""xx"" means number of the IO-channelCR2040 (00 ... 15) + 16; CR2042 (00 ... 07) + 8" | |||
| 0x21xx 0x03 0x00 "Inputs, Overcurrent""xx"" means number of the IO-channelCR2040 (00 ... 15) + 32; CR2042 (00 ... 07) + 16" | |||
| 0x23xx 0x03 0x00 "outputs, Openline""xx"" means number of the IO-channelCR2041 (00 ... 15); CR2042 (00 ... 07)" | |||
| 0x23xx 0x03 0x00 "outputs, Short circuit""xx"" means number of the IO-channelCR2041 (00 ... 15) + 16; CR2042 (00 ... 07) + 8" | |||
| 0x23xx 0x03 0x00 "outputs, Overload""xx"" means number of the IO-channelCR2041 (00 ... 15) + 32; CR2042 (00 ... 07) + 16" | |||
CANopen does not provide for two identical EMCY objects to be sent consecutively.
12.2 Object directory CR204x
Obligatory objects (index 0x1000...0x1FFF):
| Index S-idx Designation Data type Default Details | ||||||
| 0x1000 Device type ro UDINT 0x000F0 191 Device type | ||||||
| 0x1001 Error register ro USINT 0 Error register bitcoded to profile | 301Permissible values:0b0000 0000 = no error0b0000 0001 = generic error0b0001 0000 = communication error0b1000 0000 = manufacturer specific | |||||
| 0x1018 0x00 Device identification Number of entries | ro USINT 0x04 | Device identification | ||||
| 0x1003 0x00 Predefined error field Number of entries | rw | UDINT 0 An error list with 4 entries is supported | ||||
| 0x1005 | COB-ID | synchmessage | rw U | DINT 0x0000 | 0080 Identifier of | the synch messageBit 30 = 0 → device generates no synch messageBit 30 = 1 → device generates a synch messageBit 29 = 0 → 11 bit IDBit 29 = 1 → ID = 0x80 + node ID |
| 0x1006 | Communi-cation cycleperiod | rw U | DINT 0 Max. | time between 2 | synch objectsin [μs]Control resolution = 1 ms | |
| 0x1008 | Manufacturerdevice name | ro STRING CR204x Device designation (CR2040 orCR2041 or CR2042) | ||||
| 0x1009 | Manufacturerhardwareversion | ro STRING V00.00.00 Hardware version | ||||
| 0x100A | Manufacturersoftwareversion | ro STRING V00.00.00 Software version | ||||
| 0x1010 | 0x00 | Store para-metersLargestsub-indexsupported | ro USINT 0x01 | Number of "save options" | ||
| 0x01 | Save allparameters | rw U | DINT 2 Automatic saving of all parameterschanged0 = AutoSave OFF2 = AutoSave ON | |||
| 0x1011 | 0x00 | RestoredefaultparametersLargestsub-indexsupported | ro USINT 0x01 | Number of "restore options" | ||
| 0x01 | Restoreall defaultparameters | rw U | DINT 0x01 | If the String "load" is entered here,the default parameters set at thefactory are restored and becomevalid after the next reset. | ||
| 0x1014 | COBldEmergency | rw | UDINT | 0x80 + node ID | Bit 31 = 0 → EMCY is validBit 31 = 1 → EMCY is not validBit 29 = 0 → 11-bit IDBit 29 = 1 → ID = 0x80 + node IDCAN identifier can be changed bythe user. | |
| Index S-idx Designation Data type Default Details | |||||
| 0x1016 0x00 Con | sumer heartbeat times Nums consumer heartbeat time | ro USINT 0x01 Heartbeat monitoring time for the node Number of devices monitored = 1 | |||
| 0x01 Consumer heartbeat time | rw U DINT 0 Heartbeat monitoring time for the node Format: 0x0nntttt tttt = monitoring time [ms] nn = node number if nn=0 or tttt=0 → no monitoring | ||||
| 0x1017 Producer | heartbeat time | rw UI NT 0 Time interval [ms] during which the device generates a producer heartbeat | |||
12.2.1 Device-specific CR2040
Transmit PDO communication parameters (index 0x1800...0x18FF):
| Index S-idx Designation Data type Default Details | |||||
| 0x1800 0x00 TransmitPDO Com-municationParameterNumber ofentries | ro USINT 0x05 Configuration transmit PDO 1number of entries = 5 | ||||
| 0x01 COBID usedby PDO | rw U | DINT 0x180 | +Node ID | CAN ID of the transmit PDO 1Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid | |
| 0x02 transmissiontype | rw USINT 0xFF | 0x00 = synch acyclic | 0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred | ||
| 0x03 inhibit time rw UINT | 0 | delay time in the transmissiontype "asynch" before the PDO istransmitted again at the earliest.(0...65535 • 100 μs) | |||
| 0x04 reserved rw USINT 0 | reserve | ||||
| 0x05 | event time | rw | UINT | 0 | |
| 0x1801 0x00 TransmitPDO Com-municationParameterNumber ofentries | ro USINT 0x05 Configuration transmit PDO 2number of entries = 5 | ||||
| 0x01 COBID usedby PDO | rw U | DINT 0x280 | +Node ID | CAN ID of the transmit PDO 2Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid | |
| 0x02 transmissiontype | rw USINT 0x01 | 0x00 = synch acyclic | 0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred | ||
| 0x03 inhibit time rw UINT 0 delay time in the transmissiontype "asynch" before the PDO istransmitted again at the earliest.(0...65535 • 100 μs) | |||||
| 0x04 reserved rw USINT 0 reserve | |||||
| 0x05 event timewUINT 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured. | |||||
| 0x1802 0x00 TransmitPDO Com-municationParameterNumber ofentries | ro USINT 0x05 Configuration transmit PDO 3number of entries = 5 | ||||
| 0x01 COBID usedby PDO | rw U | DINT 0x380 | +Node ID | CAN ID of the transmit PDO 3Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid | |
| 0x02 transmissiontype | rw USINT 0x01 | 0x00 = synch acyclic | 0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred | ||
| 0x03 inhibit time rw UINT 0 delay time in the transmissiontype "asynch" before the PDO istransmitted again at the earliest.(0...65535 • 100 μs) | |||||
| 0x04 reserved rw USINT 0 reserve | |||||
| 0x05 event timewUINT 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured. | |||||
| 0x1803 0x00 TransmitPDO Com-municationParameterNumber ofentries | ro USINT 0x05 Configuration transmit PDO 4number of entries = 5 | ||||
| 0x01 COBID usedby PDO | rw U DINT 0x480 +Node ID | CAN ID of the transmit PDO 4Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid | |||
| 0x02 transmissiontype | rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred | ||||
| 0x03 inhibit time rw UINT 0 delay time in the transmissiontype "asynch" before the PDO istransmitted again at the earliest.(0...65535 • 100 μs) | |||||
| 0x04 reserved rw USINT 0 reserve | |||||
| 0x05 event timewrUINT 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured. | |||||
| 0x1804 0x00 TransmitPDO Com-municationParameterNumber ofentries | ro USINT 0x05 Configuration transmit PDO 5number of entries = 5 | ||||
| 0x01 COBID usedby PDO | rw U DINT 0x181 +Node ID | CAN ID of the transmit PDO 5Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid | |||
| 0x02 transmissiontype | rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred | ||||
| 0x03 inhibit time rw UINT 0 delay time in the transmissiontype "asynch" before the PDO istransmitted again at the earliest.(0...65535 • 100 μs) | |||||
| 0x04 reserved rw USINT 0 reserve | |||||
| 0x05 event timewrUINT 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured. | |||||
| 0x1805 0x00 TransmitPDO Com-municationParameterNumber ofentries | ro USINT 0x05 Configuration transmit PDO 6number of entries = 5 | ||||
| 0x01 COBID usedby PDO | rw U | DINT 0x281 | +Node ID | CAN ID of the transmit PDO 6Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid | |
| 0x02 transmissiontype | rw USINT 0x01 | 0x00 = synch acyclic | 0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred | ||
| 0x03 inhibit time rw UINT 0 delay time in the transmissiontype "asynch" before the PDO istransmitted again at the earliest.(0...65535 • 100 μs) | |||||
| 0x04 reserved rw USINT 0 reserve | |||||
| 0x05 event timewUINT 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured. | |||||
| 0x1806 0x00 TransmitPDO Com-municationParameterNumber ofentries | ro USINT 0x05 Configuration transmit PDO 7number of entries = 5 | ||||
| 0x01 COBID usedby PDO | rw U | DINT 0x381 | +Node ID | CAN ID of the transmit PDO 7Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid | |
| 0x02 transmissiontype | rw USINT 0x01 | 0x00 = synch acyclic | 0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred | ||
| 0x03 inhibit time rw UINT 0 delay time in the transmissiontype "asynch" before the PDO istransmitted again at the earliest.(0...65535 • 100 μs) | |||||
| 0x04 reserved rw USINT 0 reserve | |||||
| 0x05 event timewUINT 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured. | |||||
| 0x1807 0x00 TransmitPDO Com-municationParameterNumber ofentries | ro USINT 0x05 Configuration transmit PDO 8number of entries = 5 | ||||
| 0x01 COBID usedby PDO | rw U DINT 0x481 +Node ID | CAN ID of the transmit PDO 8Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid | |||
| 0x02 transmissiontype | rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred | ||||
| 0x03 inhibit time rw UINT 0 delay time in the transmissiontype "asynch" before the PDO istransmitted again at the earliest.(0...65535 • 100 μs) | |||||
| 0x04 reserved rw USINT 0 reserve | |||||
| 0x05 event timewrUINT 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured. | |||||
| 0x1808 0x00 TransmitPDO Com-municationParameterNumber ofentries | ro USINT 0x05 Configuration transmit PDO 9number of entries = 5 | ||||
| 0x01 COBID usedby PDO | rw U DINT 0x182 +Node ID | CAN ID of the transmit PDO 9Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid | |||
| 0x02 transmissiontype | rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred | ||||
| 0x03 inhibit time rw UINT 0 delay time in the transmissiontype "asynch" before the PDO istransmitted again at the earliest.(0...65535 • 100 μs) | |||||
| 0x04 reserved rw USINT 0 reserve | |||||
| 0x05 event timewrUINT 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured. | |||||
| 0x1809 0x00 TransmitPDO Com-municationParameterNumber ofentries | ro USINT 0x05 Configuration transmit PDO 10number of entries = 5 | ||||
| 0x01 COBID usedby PDO | rw U DINT 0x282 +Node ID | CAN ID of the transmit PDO 10Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid | |||
| 0x02 transmissiontype | rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred | ||||
| 0x03 inhibit time rw UINT 0 delay time in the transmissiontype "asynch" before the PDO istransmitted again at the earliest.(0...65535 • 100 μs) | |||||
| 0x04 reserved rw USINT 0 reserve | |||||
| 0x05 event timewUINT 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured. | |||||
Transmit PDO mapping (index 0x1A00...0x1AFF):
| Index S-idx Designation Data type Default Details | |||||
| 0x1A00 0x00 TransmitPDO mappingNumber ofmappedobjects inPDO | rw U | SINT 0x07 | mapping transmit | PDO 1number of integrated applicationobjects = 7 | |
| 0x01 P | DO mapping | rw U | DINT 0x6000 | 0108 Index 0x6000, SubIndex 0x01binary inputs 00...07: actual values(bit coded) | |
| 0x02 P | DO mapping | rw U | DINT 0x6000 | 0208 Index 0x6000, SubIndex 0x02binary inputs 08...15: actual values(bit coded) | |
| 0x03 P | DO mapping | rw U | DINT 0x2020 | 0108 Index 0x2020, SubIndex 0x01binary inputs 00...07: flag "shortcircuit" (bit coded) | |
| 0x04 P | DO mapping | rw U | DINT 0x2020 | 0208 Index 0x2020, SubIndex 0x02binary inputs 08...15: flag "shortcircuit" (bit coded) | |
| 0x05 P | DO mapping | rw U | DINT 0x2021 | 0108 Index 0x2021, SubIndex 0x01outputs 00...07: flag " wire break " (bitcoded) | |
| 0x06 P | DO mapping | rw U | DINT 0x2021 | 0208 Index 0x2021, SubIndex 0x02outputs 08...15: flag " wire break "(bit coded) | |
| 0x07 P | DO mapping | rw U | DINT 0x2025 | 0108 Index 0x2025, SubIndex 0x01inputs 00...03: flag " overload " (bitcoded) | |
| 0x1A01 | 0x00 Transmit | PDO mappingNumber ofmappedobjects inPDO | rw USINT 0x04 | mapping transmit | PDO 2 (analogueinputs)number of integrated applicationobjects = 4 |
| 0x01 P | DO mapping | rw UDINT 0x640 | 4 0110 Index 0x6 | 404, SubIndex 0x01analogue input 00: actual value(depending on the configuration0x2000) | |
| 0x02 P | DO mapping | rw UDINT 0x640 | 4 0210 Index 0x6 | 404, SubIndex 0x02analogue input 01: actual value(depending on the configuration0x2000)) | |
| 0x03 P | DO mapping | rw UDINT 0x640 | 4 0310 Index 0x6 | 404, SubIndex 0x03analogue input 02: actual value(depending on the configuration0x2000) | |
| 0x04 P | DO mapping | rw UDINT 0x640 | 4 0410 Index 0x6 | 404, SubIndex 0x04analogue input 03: actual value(depending on the configuration0x2000) | |
| 0x1A02 | 0x00 Transmit | PDO mappingNumber ofmappedobjects inPDO | rw USINT 0x04 | mapping transmit | PDO 3 (analogueinputs)number of integrated applicationobjects = 4 |
| 0x01 P | DO mapping | rw UDINT 0x640 | 4 0510 Index 0x6 | 404, SubIndex 0x05analogue input 04: actual value(depending on the configuration0x2000) | |
| 0x02 P | DO mapping | rw UDINT 0x640 | 4 0610 Index 0x6 | 404, SubIndex 0x06analogue input 05: actual value(depending on the configuration0x2000)) | |
| 0x03 P | DO mapping | rw UDINT 0x640 | 4 0710 Index 0x6 | 404, SubIndex 0x07analogue input 06: actual value(depending on the configuration0x2000) | |
| 0x04 P | DO mapping | rw UDINT 0x640 | 4 0810 Index 0x6 | 404, SubIndex 0x08analogue input 07: actual value(depending on the configuration0x2000) | |
| 0x1A03 0x00 TransmitPDO mappingNumber ofmappedobjects inPDO | rw USINT 0x04 mapping transmit | PDO 4number of integrated applicationobjects = 4 | |||
| 0x01 PDO mapping | rw UDINT 0x2030 0110 Index 0x2030, SubIndex 0x01input 08: actual resistor value | ||||
| 0x02 PDO mapping | rw UDINT 0x2030 0210 Index 0x2030, SubIndex 0x02input 10: actual resistor value | ||||
| 0x03 PDO mapping | rw UDINT 0x2030 0310 Index 0x2030, SubIndex 0x03input 12: actual resistor value | ||||
| 0x04 PDO mapping | rw UDINT 0x2030 0410 Index 0x2030, SubIndex 0x04input 14: actual resistor value | ||||
| 0x1A04 0x00 TransmitPDO mappingNumber ofmappedobjects inPDO | rw USINT 0x02 mapping transmit | PDO 5 (periodetime IN09, IN11)number of integrated applicationobjects = 2 | |||
| 0x01 PDO mapping | rw UDINT 0x2012 0120 Index 0x2012, SubIndex 0x01frequency input IN09: periode time ofthe signal | ||||
| 0x02 PDO mapping | rw UDINT 0x2012 0220 Index 0x2012, SubIndex 0x02frequency input IN11: periode time ofthe signal | ||||
| 0x1A05 0x00 TransmitPDO mappingNumber ofmappedobjects inPDO | rw USINT 0x02 mapping transmit | PDO 6 (periodetime IN13, IN15)number of integrated applicationobjects = 2 | |||
| 0x01 PDO mapping | rw UDINT 0x2012 0320 Index 0x2012, SubIndex 0x03frequency input IN13: periode time ofthe signal | ||||
| 0x02 PDO mapping | rw UDINT 0x2012 0420 Index 0x2012, SubIndex 0x04frequency input IN15: periode time ofthe signal | ||||
| Index S-idx Designation Data type Default Details | ||||||
| 0x1A06 | 0x00 Transmit | PDO mappingNumber ofmappedobjects inPDO | rw U | SINT 0x04 | mapping transmit | PDO 7 (duty cycleof the signal on the frequency inputIN09, IN11, IN13, IN15)number of integrated applicationobjects = 4 |
| 0x01 P | DO mapping | rw U | DINT 0x201 | 4 0110 Index 0x2 | 2014, SubIndex 0x01frequency input IN09: duty cycle ofthe signal in %o | |
| 0x02 P | DO mapping | rw U | DINT 0x201 | 4 0210 Index 0x2 | 2014, SubIndex 0x02frequency input IN11: duty cycle ofthe signal in %o | |
| 0x03 P | DO mapping | rw U | DINT 0x201 | 4 0310 Index 0x2 | 2014, SubIndex 0x03frequency input IN13: duty cycle ofthe signal in %o | |
| 0x04 P | DO mapping | rw U | DINT 0x201 | 4 0410 Index 0x2 | 2014, SubIndex 0x04frequency input IN15: duty cycle ofthe signal in %o | |
| 0x1A07 | 0x00 Transmit | PDO mappingNumber ofmappedobjects inPDO | rw U | SINT 0x02 | mapping transmit | PDO 8 (frequencyon IN09, IN11)number of integrated applicationobjects = 2 |
| 0x01 P | DO mapping | rw U | DINT 0x201 | 5 0120 Index 0x2 | 2015, SubIndex 0x01frequency input IN09: frequencyvalue of the signal in Hz | |
| 0x02 P | DO mapping | rw U | DINT 0x201 | 5 0220 Index 0x2 | 2015, SubIndex 0x02frequency input IN11: frequency valueof the signal in Hz | |
| 0x1A08 | 0x00 Transmit | PDO mappingNumber ofmappedobjects inPDO | rw U | SINT 0x02 | mapping transmit | PDO 9 (frequencyon IN13, IN15)number of integrated applicationobjects = 2 |
| 0x01 P | DO mapping | rw U | DINT 0x201 | 5 0320 Index 0x2 | 2015, SubIndex 0x03frequency input IN13: frequencyvalue of the signal in Hz | |
| 0x02 P | DO mapping | rw U | DINT 0x201 | 5 0420 Index 0x2 | 2015, SubIndex 0x04frequency input IN15: frequencyvalue of the signal in Hz | |
| Index S-idx Designation Data type Default Details | ||||||
| 0x1A09 0x00 TransmitPDO mappingNumber ofmappedobjects inPDO | rw U | SINT 0x02 | mapping transmit | PDO 10 (system flag)number of integrated application objects = 2 | ||
Manufacturer-specific objekts (index 0x2000...0x6FFF):
| Index S-idx Designation Data type Default Details | ||||||
| 0x2000 0x00 IO configuration Largest sub-index supported | ro USINT 16 Configuration inputs/outputs largest supported Sub-index = 32 | |||||
| 0x01 Configuration IN00 | rw USINT 10 0 = 0x00 | 3 = 0x036 = 0x067 = 0x079 = 0x0910 = 0x0A11 = 0x0B12 = 0x0C | off Input IN000...10 000 mV ratiometric 0...1000 %00...20 000 μA0...32 000 mV binary plus switched binary plus switched with diagnosis binary minus switched | |||
| 0x02 Configuration IN01 | rw USINT 10 0 = 0x00 | 3 = 0x036 = 0x067 = 0x079 = 0x0910 = 0x0A11 = 0x0B12 = 0x0C | off Input IN010...10 000 mV ratiometric 0...1000 %00...20 000 μA0...32 000 mV binary plus switched binary plus switched with diagnosis binary minus switched | |||
| 0x03 Configuration IN02 | rw USINT 10 0 = 0x00 | 3 = 0x036 = 0x067 = 0x079 = 0x0910 = 0x0A11 = 0x0B12 = 0x0C | off Input IN020...10 000 mV ratiometric 0...1000 %00...20 000 μA0...32 000 mV binary plus switched binary plus switched with diagnosis binary minus switched | |||
| 0x2000 0x04 Configuration IN03 | rw USINT 10 0 = 0x00 | 3 = 0x036 = 0x067 = 0x079 = 0x0910 = 0x0A11 = 0x0B12 = 0x0C | off Input IN030...10 000 mVratiometric 0...1000 %o0...20 000 μA0...32 000 mVbinary plus switchedbinary plus switchedwith diagnosisbinary minus switched | |||
| Index S-idx Designation Data type Default Details | |||||||
| 0x2000 0x0A Configuration IN09 | rw USINT 01 0 = 0x00 | 01 = 0x0114 = 0x0E20 = 0x14 | off Input IN09binary plus switched frequency0...30 000 Hzperiod duration | ||||
| 0x0B Configuration IN10 | rw USINT 10 0 = 0x00 | 10 = 0x0A11 = 0x0B18 = 0x12 | off Input IN10binary plus switched binary plus switched with diagnosis16...30 000 Ohm | ||||
| 0x0C Configuration IN11 | rw USINT 01 0 = 0x00 | 01 = 0x0114 = 0x0E20 = 0x14 | off Input IN11binary plus switched frequency0...30 000 Hzperiod duration | ||||
| 0x0D Configuration IN12 | rw USINT 10 0 = 0x00 | 10 = 0x0A11 = 0x0B18 = 0x12 | off Input IN12binary plus switched binary plus switched with diagnosis16...30 000 Ohm | ||||
| 0x0E Configuration IN13 | rw USINT 01 0 = 0x00 | 01 = 0x0114 = 0x0E20 = 0x14 | off Input IN12binary plus switched frequency0...30 000 Hzperiod duration | ||||
| 0x0F Configuration IN14 | rw USINT 10 0 = 0x00 | 10 = 0x0A11 = 0x0B18 = 0x12 | off Input IN14binary plus switched binary plus switched with diagnosis16...30 000 Ohm | ||||
| 0x10 Configuration IN15 | rw USINT 01 0 = 0x00 | 01 = 0x0114 = 0x0E20 = 0x14 | off Input IN15binary plus switched frequency0...30 000 Hzperiod duration | ||||
| 0x2012 0x00 Period input ro USINT 4 | Largest sub-index supported | ||||||
| 0x01 Period duration IN09 | ro | UDINT | 0 | IN09 period duration [μs] | |||
| 0x02 Period duration IN11 | ro | UDINT | 0 | IN11 period duration [μs] | |||
| 0x03 Period duration IN13 | ro | UDINT | 0 | IN13 period duration [μs] | |||
| 0x04 Period duration IN15 | ro | UDINT | 0 | IN15 period duration [μs] | |||
| Index S-idx Designation Data type Default Details | ||||||
| 0x2013 0x00 Period input number of periods for average | ro USINT 4 Largest sub-index supported | |||||
| 0x01 Number of periods IN09 | rw USINT 4 1...255 IN09 number of | periods | ||||
| 0x02 Number of periods IN11 | rw USINT 4 1...255 IN11 number of | periods | ||||
| 0x03 Number of periods IN13 | rw USINT 4 1...255 IN13 number of | periods | ||||
| 0x04 Number of periods IN15 | rw USINT 4 1...255 IN15 number of | periods | ||||
| 0x2014 0x00 Period input - ratio value | ro USINT 4 Largest sub-index supported | |||||
| 0x01 Period ratio value IN09 | ro UI NT 0 0...1 000 IN09 marc-to-space | ratio [%] | ||||
| 0x02 Period ratio value IN11 | ro UI NT 0 0...1 000 IN11 marc-to-space | ratio [%] | ||||
| 0x03 Period ratio value IN13 | ro UI NT 0 0...1 000 IN13 marc-to-space | ratio [%] | ||||
| 0x04 Period ratio value IN15 | ro UI NT 0 0...1 000 IN15 marc-to-space | ratio [%] | ||||
| 0x2015 0x00 Frequency input | ro USINT 4 Largest sub-index supported | |||||
| 0x01 Frequency IN09 | ro REAL 1 0...30 000 IN09 frequency [Hz] | |||||
| 0x02 Frequency IN11 | ro REAL 1 0...30 000 IN11 frequency [Hz] | |||||
| 0x03 Frequency IN13 | ro REAL 1 0...30 000 IN13 frequency [Hz] | |||||
| 0x04 Frequency IN15 | ro REAL 1 0...30 000 IN15 frequency [Hz] | |||||
| 0x2016 0x00 Timebase ro USINT 4 Largest sub-index supported | ||||||
| Index S-idx Designation Data type Default Details | |||||||
| 0x2020 0x00 Input - short to supply voltage | ro USINT 2 Largest sub-index supported | ||||||
| 0x2021 0x00 Input - wire break | ro USINT 2 Largest sub-index supported | ||||||
| 0x01 Wire breakIN00...IN07 | ro USINT 0 0 = normal | 1 = wire break | channels (bit coded)0b---- ---X = IN000b---- --X- = IN010b---- -X-- = IN020b---- X--- = IN030b----X ---- = IN040b--X- ---- = IN050b-X-- ---- = IN060bX--- ---- = IN07 | ||||
| 0x2025 0x00 Input analog - overcurrent | ro USINT 1 Largest sub-index supported | ||||||
| Index S-idx Designation Data type Default Details | |||||||
| 0x2030 0x00 Input resistor ro USINT 4 Largest sub-index supported | |||||||
| 0x2040 0x00 System supply voltage VBBS | ro USINT 1 Largest sub-index supported | ||||||
| node ID[!] value(0x20F0) !=value(20F1) | |||||||
| node ID[!] value(0x2F0) !=value(20F1) | |||||||
| node ID[!] value(0x20F0) !=value(20F1) | |||||||
| Index S-idx Designation Data type Default Details | |||||
| 0x6000 0x00 Binary input Largest sub-index supported | ro USINT 0x02 Binary inputs IN00...IN07 | Largest supported sub-index = 2 | |||
| 0x01 Binary inputs IN00 - IN07 | ro USINT 0 Binary inputs IN00...IN07 | ||||
| 0x02 Binary inputs IN08 - IN15 | ro USINT 0 Binary inputs IN08...IN15 | ||||
| 0x6404 0x00 Analogue input Largest sub-index supported | ro USINT 0x08 Analogue inputs IN08...IN15 | Largest supported sub-index = 4 | |||
| 0x01 Analogue input IN00 | ro UINT -- Analogue value of input IN00 | ||||
| 0x02 Analogue input IN01 | ro UINT -- Analogue value of input IN01 | ||||
| 0x03 Analogue input IN02 | ro UINT -- Analogue value of input IN02 | ||||
| 0x04 Analogue input IN03 | ro UINT -- Analogue value of input IN03 | ||||
| 0x05 Analogue input IN04 | ro UINT -- Analogue value of input IN04 | ||||
| 0x06 Analogue input IN05 | ro UINT -- Analogue value of input IN05 | ||||
| 0x07 Analogue input IN06 | ro UINT -- Analogue value of input IN06 | ||||
| 0x08 Analogue input IN07 | ro UINT -- Analogue value of input IN07 | ||||
12.2.2 Device-specific CR2041
Receive PDO communication parameters (index 0x1400...0x14FF):
| Index S-idx Designation Data type Default Details | |||||
| 0x1400 0x00 Receive PDOCommunication Parameter Number of entries | ro USINT 0x02Receive PDO 1: binary outputs 0 - 15number of entries = 2 | ||||
| 0x01 COBID used by PDO | rw UDINT 0x200+ node ID | CAN ID of the first read PDOBit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid | |||
| 0x02 transmission type | rw USINT 0x01 0x00 = synch acyclic | 0x01...0xF0 = synch cyclic; outputs are only updated after „n" synch objectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event; outputs are updated immediately0xFF = asynch device profile event; outputs are updated immediately | |||
| 0x1401 0x00 Receive PDOCommunication Parameter Number of entries | ro USINT 0x02Receive PDO 2: PWM outputs 0 - 3number of entries = 2 | ||||
| 0x01 COBID used by PDO | rw UDINT 0x300+ node ID | CAN ID of the second read PDOBit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid | |||
| 0x02 transmission type | rw USINT 0x01 0x00 = synch acyclic | 0x01...0xF0 = synch cyclic; outputs are only updated after „n" synch objectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event; outputs are updated immediately0xFF = asynch device profile event; outputs are updated immediately | |||
| 0x1402 0x00 Receive PDO Communication Parameter Number of entries | ro USINT 0x02Receive PDO 3: PWM outputs 4 - 7 number of entries = 2 | ||||
| 0x01 COBID used by PDO | rw U | DINT 0x400 | + node ID | CAN-ID of the 3. read PDO Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid | |
| 0x02 transmission type | rw USINT 0x01 | 0x00 = synch acyclic | 0x01...0xF0 = synch cyclic; outputs are only updated after „n" synch objects n = 1...240 = 0x01...0xF0 0xFC/0xFD not implemented 0xFE = asynch man. spec. event; outputs are updated immediately 0xFF = asynch device profile event; outputs are updated immediately | ||
| 0x1403 0x00 Receive PDO Communication Parameter Number of entries | ro USINT 0x02Receive PDO 4: PWM outputs 8 - 11 number of entries = 2 | ||||
| 0x01 COBID used by PDO | rw U | DINT 0x500 | + node ID | CAN-ID of the 3. read PDO Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid | |
| 0x02 transmission type | rw USINT 0x01 | 0x00 = synch acyclic | 0x01...0xF0 = synch cyclic; outputs are only updated after „n" synch objects n = 1... 240 = 0x01...0xF0 0xFC/0xFD not implemented 0xFE = asynch man. spec. event; outputs are updated immediately 0xFF = asynch device profile event; outputs are updated immediately | ||
| 0x1404 0x00 Receive PDO Communication Parameter Number of entries | ro USINT 0x02 | Receive PDO 5: PWM outputs 12 - 15 number of entries = 2 | |||
| 0x01 OBID used by PDO | rw U | DINT 0x201 | + node ID | CAN-ID of the 3. read PDO Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid | |
| 0x02 transmission type | rw USINT 0x01 | 0x00 = synch acyclic | 0x01...0xF0 = synch cyclic; outputs are only updated after „n" synch objects n = 1...240 = 0x01...0xF0 0xFC/0xFD not implemented 0xFE = asynch man. spec. event; outputs are updated immediately 0xFF = asynch device profile event; outputs are updated immediately | ||
Receive PDO mapping (index 0x1600...0x16FF):
| Index S-idx Designation Data type Default Details | |||||
| 0x1600 0x00 Receive PDO mapping Number of mapped objects in PDO | rw U | SINT 0x02 | Mapping read PDO | DO 1: binary outputs number of integrated application objects = 2 | |
| ro UDINT 0x6200 0108 1 byte in index 0x6200, SubIndex 01 Binary outputs OUT00...OUT07 0b---- ---X = OUT00 0b---- --X- = OUT01 0b---- -X-- = OUT02 0b---- X--- = OUT03 0b----X ---- = OUT04 0b--X- ---- = OUT05 0b-X-- ---- = OUT06 0bX--- ---- = OUT07 | |||||
| ro UDINT 0x6200 0208 1 byte in index 0x6200, SubIndex 02 Binary outputs OUT08...OUT15 0b---- ---X = OUT08 0b---- --X- = OUT09 0b---- -X-- = OUT10 0b---- X--- = OUT11 0b----X ---- = OUT12 0b--X- ---- = OUT13 0b-X-- ---- = OUT14 0bX--- ---- = OUT15 | |||||
| 0x1601 0x00 Receive PDO mapping Number of mapped objects in PDO | rw U | SINT 0x04 | Mapping read PDO | DO 2: PWM outputs OUT00...OUT03 number of integrated application objects = 4 | |
| 0x01 P | DO map-ping | rw U | DINT 0x641 | 4 0110 PWM/current output OUT00 Index 0x6414, SubIndex 0x01 contains the preset value of the PWM output OUT00, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000) | |
| 0x02 P | DO map-ping | rw U | DINT 0x641 | 4 0210 PWM/ current output OUT01 Index 0x6414, SubIndex 0x02 contains the preset value of the PWM output OUT01, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000) | |
| 0x03 P | DO map-ping | rw U | DINT 0x641 | 4 0310 PWM/ current output OUT02 Index 0x6414, SubIndex 0x03 contains the preset value of the PWM output OUT02, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000) | |
| 0x04 P | DO map-ping | rw U | DINT 0x641 | 4 0410 PWM/ current output OUT03 Index 0x6414, SubIndex 0x04 contains the preset value of the PWM output OUT03, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000) | |
| 0x1602 0x00 "ReceivePDO mappingNumber ofmappedobjects inPDO" | rw U | SINT 0x04 | Mapping read PDO | DO 3:PWM outputs OUT04...OUT07number of integrated applicationobjects = 4 | |
| 0x01 PDO mapping | |||||
| 0x02 PDO mapping | |||||
| 0x03 PDO mapping | |||||
| 0x04 PDO mapping | |||||
| 0x1603 0x00 Receive PDO mapping Number of mapped objects in PDO | rw U | SINT 0x04 | Mapping read PDO | DO 4: PWM outputs OUT08...OUT11 number of integrated application objects = 4 | |
| 0x01 P | DO map-ping | rw U | DINT 0x6414 0910 PWM/ current output OUT08 Index 0x6414, SubIndex 0x09 contains the preset value of the PWM output OUT08, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000) | ||
| 0x02 P | DO map-ping | rw U | DINT 0x6414 0A10 PWM/ current output OUT09 Index 0x6414, SubIndex 0x0A contains the preset value of the PWM output OUT09, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000) | ||
| 0x03 P | DO map-ping | rw U | DINT 0x6414 0B10 PWM/ current output OUT10 Index 0x6414, SubIndex 0x0B contains the preset value of the PWM output OUT10, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000) | ||
| 0x04 P | DO map-ping | rw U | DINT 0x6414 0C10 PWM/ current output OUT11 Index 0x6414, SubIndex 0x0C contains the preset value of the PWM output OUT11, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000) | ||
| Index S- | dx Designation Data type Default Details | |||||
| 0x1604 | 0x00 Receive PDO mapping Number of mapped objects in PDO | rw U | SINT 0x04 | Mapping read PDO | DO 5:PWM outputs OUT12...OUT15 number of integrated application objects = 4 | |
| 0x01 P | DO map-ping | rw U | DINT 0x641 | 4 0D10 PWM/ current output OUT12Index 0x6414, SubIndex 0x0D contains the preset value of the PWM output OUT12, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000) | ||
| 0x02 P | DO map-ping | rw U | DINT 0x641 | 4 0E10 PWM/ current output OUT13Index 0x6414, SubIndex 0x0E contains the preset value of the PWM output OUT13, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000) | ||
| 0x03 P | DO map-ping | rw U | DINT 0x641 | 4 0F10 PWM/ current output OUT14Index 0x6414, SubIndex 0x0F contains the preset value of the PWM output OUT14, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000) | ||
| 0x04 P | DO map-ping | rw U | DINT 0x641 | 4 1010 PWM/ current output OUT15Index 0x6414, SubIndex 0x10 contains the preset value of the PWM output OUT15, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000) | ||
Transmit PDO communication parameters (index 0x1800...0x18FF):
| Index S-idx Designation Data type Default Details | |||||
| 0x1800 0x00 TransmitPDO Com-municationParameterNumber ofentries | ro USINT 0x05 Configuration transmit PDO 1number of entries = 5 | ||||
| 0x01 COBID usedby PDO | rw UDINT 0x180 +Node ID | CAN ID of the transmit PDO 1Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid | |||
| 0x02 transmissiontype | rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred | ||||
| 0x03 inhibit time rw UINT 0 delay time in the transmissiontype "asynch" before the PDO istransmitted again at the earliest.(0...65535 • 100 μs) | |||||
| 0x04 reserved rw USINT 0 reserve | |||||
| 0x05 event timewrw UINT 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured. | |||||
| 0x1801 0x00 TransmitPDO Com-municationParameterNumber ofentries | ro USINT 0x05 Configuration transmit PDO 2number of entries = 5 | ||||
| 0x01 COBID usedby PDO | rw U | DINT 0x280 | +Node ID | CAN ID of the transmit PDO 2Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid | |
| 0x02 transmissiontype | rw USINT 0x01 | 0x00 = synch acyclic | 0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred | ||
| 0x03 inhibit time rw UINT 0 delay time in the transmissiontype "asynch" before the PDO istransmitted again at the earliest.(0...65535 • 100 μs) | |||||
| 0x04 reserved rw USINT 0 reserve | |||||
| 0x05 event timewUINT 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured. | |||||
| 0x1802 0x00 TransmitPDO Com-municationParameterNumber ofentries | ro USINT 0x05 Configuration transmit PDO 3number of entries = 5 | ||||
| 0x01 COBID usedby PDO | rw U | DINT 0x380 | +Node ID | CAN ID of the transmit PDO 3Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid | |
| 0x02 transmissiontype | rw USINT 0x01 | 0x00 = synch acyclic | 0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred | ||
| 0x03 inhibit time rw UINT 0 delay time in the transmissiontype "asynch" before the PDO istransmitted again at the earliest.(0...65535 • 100 μs) | |||||
| 0x04 reserved rw USINT 0 reserve | |||||
| 0x05 event timewUINT 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured. | |||||
| 0x1803 0x00 TransmitPDO Com-municationParameterNumber ofentries | ro USINT 0x05 Configuration transmit PDO 4number of entries = 5 | ||||
| 0x01 COBID usedby PDO | rw U DINT 0x480 +Node ID | CAN ID of the transmit PDO 4Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid | |||
| 0x02 transmissiontype | rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred | ||||
| 0x03 inhibit time rw UINT 0 delay time in the transmissiontype "asynch" before the PDO istransmitted again at the earliest.(0...65535 • 100 μs) | |||||
| 0x04 reserved rw USINT 0 reserve | |||||
| 0x05 event timewrUINT 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured. | |||||
Transmit PDO mapping (index 0x1A00...0x1AFF):
| Index S-idx Designation Data type Default Details | |||||
| 0x1A00 0x00 TransmitPDO mappingNumber ofmappedobjects inPDO | rw USINT 0x04 mapping transmit | PDO 01 (outputcurrent OUT00...OUT03)number of integrated applicationobjects = 4 | |||
| 0x01 PDO mapping | rw UDINT 0x2002 0110 Index 0x2002, SubIndex 0x01current on output OUT00 | ||||
| 0x02 PDO mapping | rw UDINT 0x2002 0210 Index 0x2002, SubIndex 0x02current on output OUT01 | ||||
| 0x03 PDO mapping | rw UDINT 0x2002 0310 Index 0x2002, SubIndex 0x03current on output OUT02 | ||||
| 0x04 PDO mapping | rw UDINT 0x2002 0410 Index 0x2002, SubIndex 0x04current on output OUT03 | ||||
| 0x1A01 0x00 TransmitPDO mappingNumber ofmappedobjects inPDO | rw USINT 0x04 mapping transmit | PDO 02 (outputcurrent OUT04...OUT07)number of integrated applicationobjects = 4 | |||
| 0x01 PDO mapping | rw UDINT 0x2002 0510 Index 0x2002, SubIndex 0x05current on output OUT04 | ||||
| 0x02 PDO mapping | rw UDINT 0x2002 0610 Index 0x2002, SubIndex 0x06current on output OUT05 | ||||
| 0x03 PDO mapping | rw UDINT 0x2002 0710 Index 0x2002, SubIndex 0x07current on output OUT06 | ||||
| 0x04 PDO mapping | rw UDINT 0x2002 0810 Index 0x2002, SubIndex 0x08current on output OUT07 | ||||
| 0x1A02 0x00 TransmitPDO mappingNumber ofmappedobjects inPDO | rw U | SINT 0x05 | mapping transmit | PDO 3number of integrated applicationobjects = 5 | |
| 0x01 P | DO mapping | rw U | DINT 0x2022 | 0108 Index 0x2022, SubIndex 0x01outputs 00...07: flag " short circuit "(bit coded) | |
| 0x02 P | DO mapping | rw U | DINT 0x2022 | 0208 Index 0x2022, SubIndex 0x02outputs 08...15: flag " short circuit "(bit coded) | |
| 0x03 P | DO mapping | rw U | DINT 0x2023 | 0108 Index 0x2023, SubIndex 0x01outputs 00...07: flag " wire break " (bit coded) | |
| 0x04 P | DO mapping | rw U | DINT 0x2023 | 0208 Index 0x2023, SubIndex 0x02outputs 08...015: flag " wire break "(bit coded) | |
| 0x05 P | DO mapping | rw U | DINT 0x2024 | 0108 Index 0x2024, SubIndex 0x01outputs 00...07: flag " overload " (bit coded) | |
| 0x1A03 0x00 TransmitPDO mappingNumber ofmappedobjects inPDO | rw U | SINT 0x04 | mapping transmit | PDO 4 (systemflag)number of integrated applicationobjects = 4 | |
| 0x01 P | DO mapping | rw U | DINT 0x2040 | 0110 Index 0x2040, SubIndex 0x01supply voltage of the system VBBS | |
| 0x02 P | DO mapping | rw U | DINT 0x2041 | 0110 Index 0x2041, SubIndex 0x01output supply voltage VBB1 | |
| 0x03 P | DO mapping | rw U | DINT 0x2041 | 0210 Index 0x2041, SubIndex 0x02output supply voltage VBB2 | |
| 0x04 P | DO mapping | rw U | DINT 0x2050 | 0010 Index 0x2050, SubIndex 0x00system temperature in °C | |
Manufacturer-specific objekts (index 0x2000...0x6FFF):
| Index S-idx Designation Data type Default Details | ||||||
| 0x2000 0x00 IO configurationLargestsub-indexsupported | ro USINT 16 Configuration inputs/outputslargest supported Sub-index = 32 | |||||
| 0x01 ConfigurationOUT00 | rw USINT 2 0 = 0x00 | 2 = 0x024 = 0x045 = 0x0515 = 0x0F16 = 0x10 | off Output OUT00binary plus switchedPWM outputcurrent controlbinary plus switchedwith diagnosisbinary plus switchedwith diagnosis +protection | |||
| 0x02 ConfigurationOUT01 | rw USINT 2 0 = 0x00 | 2 = 0x024 = 0x045 = 0x0515 = 0x0F16 = 0x10 | off Output OUT01binary plus switchedPWM outputcurrent controlbinary plus switchedwith diagnosisbinary plus switchedwith diagnosis +protection | |||
| 0x03 ConfigurationOUT02 | rw USINT 2 0 = 0x00 | 2 = 0x024 = 0x045 = 0x0515 = 0x0F16 = 0x10 | off Output OUT02binary plus switchedPWM outputcurrent controlbinary plus switchedwith diagnosisbinary plus switchedwith diagnosis +protection | |||
| 0x04 ConfigurationOUT03 | rw USINT 2 0 = 0x00 | 2 = 0x024 = 0x045 = 0x0515 = 0x0F16 = 0x10 | off Output OUT03binary plus switchedPWM outputcurrent controlbinary plus switchedwith diagnosisbinary plus switchedwith diagnosis +protection | |||
| 0x05 ConfigurationOUT04 | rw USINT 2 0 = 0x00 | 2 = 0x024 = 0x045 = 0x0515 = 0x0F16 = 0x10 | off Output OUT04binary plus switchedPWM outputcurrent controlbinary plus switchedwith diagnosisbinary plus switchedwith diagnosis +protection | |||
| 0x2000 0x06 Configuration OUT05 | rw USINT 2 0 = 0x00 | 2 = 0x024 = 0x045 = 0x0515 = 0x0F16 = 0x10 | off Output OUT05binary plus switchedPWM outputcurrent controlbinary plus switchedwith diagnosisbinary plus switchedwith diagnosis +protection | |||
| 0x2000 0x0D Configuration OUT12 | rw USINT 2 0 = 0x00 | 2 = 0x024 = 0x0415 = 0x0F | off Output OUT12 binary plus switched PWM output binary plus switched with diagnosis | |||
| Index S-idx Designation Data type Default Details | |||||||
| 0x2001 0x09 PWM frequency OUT08 | rw UI | INT 100 20.. | .250 OUT08 PW | VM frequen- | cy [Hz] | ||
| cy [Hz] | |||||||
| Index S-idx Designation Data type Default Details | |||||||
| 0x2004 0x00 P-value ro USINT 8 Large st sub-index supported | |||||||
| Index S-idx Designation Data type Default Details | ||||||
| 0x2006 0x03 PWM dither frequency OUT02 | rw UI NT 0 0...PWM- | freq / 2 | OUT02 PWM dither frequency [Hz] | |||
| 0x04 PWM dither frequency OUT03 | rw UI NT 0 0...PWM- | freq / 2 | OUT03 PWM dither frequency [Hz] | |||
| 0x05 PWM dither frequency OUT04 | rw UI NT 0 0...PWM- | freq / 2 | OUT04 PWM dither frequency [Hz] | |||
| 0x06 PWM dither frequency OUT05 | rw UI NT 0 0...PWM- | freq / 2 | OUT05 PWM dither frequency [Hz] | |||
| 0x07 PWM dither frequency OUT06 | rw UI NT 0 0...PWM- | freq / 2 | OUT06 PWM dither frequency [Hz] | |||
| 0x08 PWM dither frequency OUT07 | rw UI NT 0 0...PWM- | freq / 2 | OUT07 PWM dither frequency [Hz] | |||
| 0x09 PWM dither frequency OUT08 | rw UI NT 0 0...PWM- | freq / 2 | OUT08 PWM dither frequency [Hz] | |||
| 0x0A PWM dither frequency OUT09 | rw UI NT 0 0...PWM- | freq / 2 | OUT09 PWM dither frequency [Hz] | |||
| 0x0B PWM dither frequency OUT10 | rw UI NT 0 0...PWM- | freq / 2 | OUT10 PWM dither frequency [Hz] | |||
| 0x0C PWM dither frequency OUT11 | rw UI NT 0 0...PWM- | freq / 2 | OUT11 PWM dither frequency [Hz] | |||
| 0x0D PWM dither frequency OUT12 | rw UI NT 0 0...PWM- | freq / 2 | OUT12 PWM dither frequency [Hz] | |||
| 0x0E PWM dither frequency OUT13 | rw UI NT 0 0...PWM- | freq / 2 | OUT13 PWM dither frequency [Hz] | |||
| 0x0F PWM dither frequency OUT14 | rw UI NT 0 0...PWM- | freq / 2 | OUT14 PWM dither frequency [Hz] | |||
| 0x10 PWM dither frequency OUT15 | rw UI NT 0 0...PWM- | freq / 2 | OUT15 PWM dither frequency [Hz] | |||
| 0x2007 0x00 PWM dither value | ro USINT 16 Largest sub-index supported | |||||
| 0x01 PWM dither value OUT00 | rw UI NT 0 0...1 000 OUT00 PWM dither | value [%] | ||||
| 0x02 PWM dither value OUT01 | rw UI NT 0 0...1 000 OUT01 PWM dither | value [%] | ||||
| 0x03 PWM dither value OUT02 | rw UI NT 0 0...1 000 OUT02 PWM dither | value [%] | ||||
| 0x04 PWM dither value OUT03 | rw UI NT 0 0...1 000 OUT03 PWM dither | value [%] | ||||
| 0x05 PWM dither value OUT04 | rw UI NT 0 0...1 000 OUT04 PWM dither | value [%] | ||||
| 0x06 PWM dither value OUT05 | rw UI NT 0 0...1 000 OUT05 PWM dither | value [%] | ||||
| 0x07 PWM dither value OUT06 | rw UI NT 0 0...1 000 OUT06 PWM dither | value [%] | ||||
| 0x08 PWM dither value OUT07 | rw UI NT 0 0...1 000 OUT07 PWM dither | value [%] | ||||
| 0x09 PWM dither value OUT08 | rw UI NT 0 0...1 000 OUT08 PWM dither | value [%] | ||||
| 0x0A PWM dither value OUT09 | rw UI NT 0 0...1 000 OUT09 PWM dither | value [%] | ||||
| 0x0B PWM dither value OUT10 | rw UI NT 0 0...1 000 OUT10 PWM dither | value [%] | ||||
| 0x0C PWM dither value OUT11 | rw UI NT 0 0...1 000 OUT11 PWM dither | value [%] | ||||
| 0x0D PWM dither value OUT12 | rw UI NT 0 0...1 000 OUT12 PWM dither | value [%] | ||||
| 0x0E PWM dither value OUT13 | rw UI NT 0 0...1 000 OUT13 PWM dither | value [%] | ||||
| 0x0F PWM dither value OUT14 | rw UI NT 0 0...1 000 OUT14 PWM dither | value [%] | ||||
| 0x10 PWM dither value OUT15 | rw UI NT 0 0...1 000 OUT15 PWM dither | value [%] | ||||
| 0x2022 0x00 Output – short circuit | ro USINT 2 Largest sub-index supported | |||||
| Index S- | idx Designation Data type Default Details | ||||||
| 0x2040 | 0x00 System supply voltage VBBS | tem supp-ly voltage | ro USINT 1 Largest sub-index supported | ||||
| 0x01 V BBS ro USINT 0 | VBBS voltage [mV] | ||||||
| 0x2041 | 0x00 Output supp-ly voltage | ro USINT 2 Largest sub-index supported | |||||
| 0x01 V BB1 ro UINT 0 VBB1 voltage [mV] | |||||||
| 0x02 V BB2 ro UINT 0 VBB2 voltage [mV] | |||||||
| 0x2050 | Device temperature | ro UI NT 0 temperature [°C] | |||||
| 0x20F0 | Node ID | rw | USINT | 125 | 1...125 | node ID[!] value(0x20F0) !=value(20F1) | |
| 0x20F1 | Node ID | rw | USINT | 125 | 1...125 | node ID[!] value(0x20F0) !=value(20F1) | |
| 0x20F2 | Baud rate | rw USINT 3 baud rate | [!] value(0x20F2) != value(20F3) | ||||
| 0 | 1000 kBit/s | ||||||
| 1 | 800 kBit/s | ||||||
| 2 | 500 kBit/s | ||||||
| 3 | 250 kBit/s | ||||||
| 4 | 125 kBit/s | ||||||
| 5 | 100 kBit/s | ||||||
| 6 | 50 kBit/s | ||||||
| 7 | 20 kBit/s | ||||||
| 0x20F3 | Baud rate | rw USINT 3 baud rate | [!] value(0x20F2) != value(20F3) | ||||
| 0x20F4 | Autostart | rw UINT 0 not used | |||||
| 0x20F5 | Lock edit | mode | rw | USINT 0 0 = edit mode unlocked | |||
| 1 = edit mode locked | |||||||
| 0x20F6 | CAN inter-face | rw | USINT 1 1...2 CAN interface | [!] value(0x20F6) !=value(20F7) | |||
| 0x20F7 | CAN inter-face | rw | USINT 1 1...2 CAN interface | [!] value(0x20F6) !=value(20F7) | |||
| Index S-idx Designation Data type Default Details | |||||
| 0x6200 0x00 Binary outputLargestsub-indexsupported | ro USINT 2 Binary outputs | Largest supported sub-index = 2 | |||
| 0x01 Binary out-puts OUT00- OUT07 | wo USINT 0 Binary outputs OUT00...OUT070b---- ---X = OUT000b---- --X- = OUT010b---- -X-- = OUT020b---- X---- = OUT030b---X ---- = OUT040b--X- ---- = OUT050b-X-- ---- = OUT060bX---- ---- = OUT07 | ||||
| 0x02 Binary out-puts OUT08- OUT15 | wo USINT 0 Binary outputs OUT08...OUT150b---- ---X = OUT080b---- --X- = OUT090b---- -X-- = OUT100b---- X---- = OUT110b---X ---- = OUT120b--X- ---- = OUT130b-X-- ---- = OUT140bX---- ---- = OUT15 | ||||
UK
| Index S-idx Designation Data type Default Details | |||||
| 0x6414 0x00 PWM outputLargest sub-index supported | ro USINT 16 PWM outputs | Largest supported sub-index = 16 | |||
| 0x01 PWM output OUT00 | wo UINT -- Value for PWM output OUT00 | ||||
| 0x02 PWM output OUT01 | wo UINT -- Value for PWM output OUT01 | ||||
| 0x03 PWM output OUT02 | wo UINT -- Value for PWM output OUT02 | ||||
| 0x04 PWM output OUT03 | wo UINT -- Value for PWM output OUT03 | ||||
| 0x05 PWM output OUT04 | wo UINT -- Value for PWM output OUT04 | ||||
| 0x06 PWM output OUT05 | wo UINT -- Value for PWM output OUT05 | ||||
| 0x07 PWM output OUT06 | wo UINT -- Value for PWM output OUT06 | ||||
| 0x08 PWM output OUT07 | wo UINT -- Value for PWM output OUT07 | ||||
| 0x09 PWM output OUT08 | wo UINT -- Value for PWM output OUT08 | ||||
| 0x0A PWM output OUT09 | wo UINT -- Value for PWM output OUT09 | ||||
| 0x0B PWM output OUT10 | wo UINT -- Value for PWM output OUT10 | ||||
| 0x0C PWM output OUT11 | wo UINT -- Value for PWM output OUT11 | ||||
| 0x0D PWM output OUT12 | wo UINT -- Value for PWM output OUT12 | ||||
| 0x0E PWM output OUT13 | wo UINT -- Value for PWM output OUT13 | ||||
| 0x0F PWM output OUT14 | wo UINT -- Value for PWM output OUT14 | ||||
| 0x10 PWM output OUT15 | wo UINT -- Value for PWM output OUT15 | ||||
12.2.3 Device-specific CR2042
Receive PDO communication parameters (index 0x1400...0x14FF):
| Index S-idx Designation Data type Default Details | |||||
| 0x1400 0x00 Receive PDOCommunication Parameter Number of entries | ro USINT 0x02Receive PDO 1: binary outputs 0 - 7number of entries = 2 | ||||
| 0x01 COBID used by PDO | rw UDINT 0x200+ node ID | CAN ID of the first read PDOBit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid | |||
| 0x02 transmission type | rw USINT 0x01 0x00 = synch acyclic | 0x01...0xF0 = synch cyclic; outputs are only updated after „n" synch objectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event; outputs are updated immediately0xFF = asynch device profile event; outputs are updated immediately | |||
| 0x1401 0x00 Receive PDOCommunication Parameter Number of entries | ro USINT 0x02Receive PDO 2: PWM outputs 0 - 3number of entries = 2 | ||||
| 0x01 COBID used by PDO | rw UDINT 0x300+ node ID | CAN ID of the second read PDOBit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid | |||
| 0x02 transmission type | rw USINT 0x01 0x00 = synch acyclic | 0x01...0xF0 = synch cyclic; outputs are only updated after „n" synch objectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event; outputs are updated immediately0xFF = asynch device profile event; outputs are updated immediately | |||
| 0x1402 0x00 Receive PDO Communication Parameter Number of entries | ro USINT 0x02 RReceive PDO 3:PWM outputs 4 - 7 number of entries = 2 | ||||
| 0x01 OBID used by PDO | rw UDINT 0x400 + node ID | CAN-ID of the 3. read PDOBit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid | |||
| 0x02 transmission type | rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; outputs are only updated after „n" synch objectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event; outputs are updated immediately0xFF = asynch device profile event; outputs are updated immediately | ||||
Receive PDO mapping (index 0x1600...0x16FF):
| Index S-idx Designation Data type Default Details | |||||
| 0x1600 0x00 Receive PDO mapping Number of mapped objects in PDO | rw U | SINT 0x01 | Mapping read PDO | DO 1: binary outputs | |
| 0x01 P | DO map-ping | ro UDINT 0x6200 | 0108 1 byte in index 0x6200, SubIndex 01Binary outputs OUT00...OUT070b---- ---X = OUT000b---- --X- = OUT010b---- -X-- = OUT020b---- X--- = OUT030b---X ---- = OUT040b--X- ---- = OUT050b-X-- ---- = OUT060bX--- ---- = OUT07 | ||
| 0x1601 0x00 Receive PDO mapping Number of mapped objects in PDO | rw U | SINT 0x04 | Mapping read PDO | DO 2: PWM outputs OUT00...OUT03 number of integrated application objects = 4 | |
| 0x01 P | DO map-ping | rw U | DINT 0x641 | 4 0110 PWM/current output OUT00 Index 0x6414, SubIndex 0x01 contains the preset value of the PWM output OUT00, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000) | |
| 0x02 P | DO map-ping | rw U | DINT 0x641 | 4 0210 PWM/ current output OUT01 Index 0x6414, SubIndex 0x02 contains the preset value of the PWM output OUT01, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000) | |
| 0x03 P | DO map-ping | rw U | DINT 0x641 | 4 0310 PWM/ current output OUT02 Index 0x6414, SubIndex 0x03 contains the preset value of the PWM output OUT02, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000) | |
| 0x04 P | DO map-ping | rw U | DINT 0x641 | 4 0410 PWM/ current output OUT03 Index 0x6414, SubIndex 0x04 contains the preset value of the PWM output OUT03, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000) | |
| 0x1602 0x00 Receive PDO mapping Number of mapped objects in PDO | rw U | SINT 0x04 | Mapping read PDO | DO 3:PWM outputs OUT04...OUT07number of integrated applicationobjects = 4 | |
| 0x01 P | DO map-ping | rw U | DINT 0x641 | 4 0510 PWM/ current output OUT04Index 0x6414, SubIndex 0x05contains the preset value of thePWM output OUT04, the value isinterpreted as duty cycle in ‰ or astarget current value (depending onthe configuration index 0x2000) | |
| 0x02 P | DO map-ping | rw U | DINT 0x641 | 4 0610 PWM/ current output OUT05Index 0x6414, SubIndex 0x06contains the preset value of thePWM output OUT05, the value isinterpreted as duty cycle in ‰ or astarget current value (depending onthe configuration index 0x2000) | |
| 0x03 P | DO map-ping | rw U | DINT 0x641 | 4 0710 PWM/ current output OUT06Index 0x6414, SubIndex 0x07contains the preset value of thePWM output OUT06, the value isinterpreted as duty cycle in ‰ or astarget current value (depending onthe configuration index 0x2000) | |
| 0x04 P | DO map-ping | rw U | DINT 0x641 | 4 0810 PWM/ current output OUT07Index 0x6414, SubIndex 0x08contains the preset value of thePWM output OUT07, the value isinterpreted as duty cycle in ‰ or astarget current value (depending onthe configuration index 0x2000) | |
Transmit PDO communication parameters (index 0x1800...0x18FF):
| Index S-idx Designation Data type Default Details | |||||
| 0x1800 0x00 TransmitPDO Com-municationParameterNumber ofentries | ro USINT 0x05 Configuration transmit PDO 1number of entries = 5 | ||||
| 0x01 COBID usedby PDO | rw UDINT 0x180 +Node ID | CAN ID of the transmit PDO 1Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid | |||
| 0x02 transmissiontype | rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred | ||||
| 0x03 inhibit time rw UINT 0 delay time in the transmissiontype "asynch" before the PDO istransmitted again at the earliest.(0...65535 • 100 μs) | |||||
| 0x04 reserved rw USINT 0 reserve | |||||
| 0x05 event timewrw UINT 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured. | |||||
| 0x1801 0x00 TransmitPDO Com-municationParameterNumber ofentries | ro USINT 0x05 Configuration transmit PDO 2number of entries = 5 | ||||
| 0x01 COBID usedby PDO | rw U DINT 0x280 +Node ID | CAN ID of the transmit PDO 2Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid | |||
| 0x02 transmissiontype | rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred | ||||
| 0x03 inhibit time rw UINT 0 delay time in the transmissiontype "asynch" before the PDO istransmitted again at the earliest.(0...65535 • 100 μs) | |||||
| 0x04 reserved rw USINT 0 reserve | |||||
| 0x05 event timewrUINT 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured. | |||||
| 0x1802 0x00 TransmitPDO Com-municationParameterNumber ofentries | ro USINT 0x05 Configuration transmit PDO 3number of entries = 5 | ||||
| 0x01 COBID usedby PDO | rw U | DINT 0x380 | +Node ID | CAN ID of the transmit PDO 3Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid | |
| 0x02 transmissiontype | rw USINT 0x01 | 0x00 = synch acyclic | 0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred | ||
| 0x03 inhibit time rw UINT 0 delay time in the transmissiontype "asynch" before the PDO istransmitted again at the earliest.(0...65535 • 100 μs) | |||||
| 0x04 reserved rw USINT 0 reserve | |||||
| 0x05 event timewUINT 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured. | |||||
| 0x1803 0x00 TransmitPDO Com-municationParameterNumber ofentries | ro USINT 0x05 Configuration transmit PDO 4number of entries = 5 | ||||
| 0x01 COBID usedby PDO | rw U DINT 0x480 +Node ID | CAN ID of the transmit PDO 4Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid | |||
| 0x02 transmissiontype | rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred | ||||
| 0x03 inhibit time rw UINT 0 delay time in the transmissiontype "asynch" before the PDO istransmitted again at the earliest.(0...65535 • 100 μs) | |||||
| 0x04 reserved rw USINT 0 reserve | |||||
| 0x05 event timewrUINT 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured. | |||||
| 0x1804 0x00 TransmitPDO Com-municationParameterNumber ofentries | ro USINT 0x05 Configuration transmit PDO 5number of entries = 5 | ||||
| 0x01 COBID usedby PDO | rw U | DINT 0x181 | +Node ID | CAN ID of the transmit PDO 5Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid | |
| 0x02 transmissiontype | rw USINT 0x01 | 0x00 = synch acyclic | 0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred | ||
| 0x03 inhibit time rw UINT 0 delay time in the transmissiontype "asynch" before the PDO istransmitted again at the earliest.(0...65535 • 100 μs) | |||||
| 0x04 reserved rw USINT 0 reserve | |||||
| 0x05 event timewUINT 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured. | |||||
| 0x1805 0x00 TransmitPDO Com-municationParameterNumber ofentries | ro USINT 0x05 Configuration transmit PDO 6number of entries = 5 | ||||
| 0x01 COBID usedby PDO | rw U | DINT 0x281 | +Node ID | CAN ID of the transmit PDO 6Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid | |
| 0x02 transmissiontype | rw USINT 0x01 | 0x00 = synch acyclic | 0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred | ||
| 0x03 inhibit time rw UINT 0 delay time in the transmissiontype "asynch" before the PDO istransmitted again at the earliest.(0...65535 • 100 μs) | |||||
| 0x04 reserved rw USINT 0 reserve | |||||
| 0x05 event timewUINT 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured. | |||||
| 0x1806 0x00 TransmitPDO Com-municationParameterNumber ofentries | ro USINT 0x05 Configuration transmit PDO 7number of entries = 5 | ||||
| 0x01 COBID usedby PDO | rw U | DINT 0x381 | +Node ID | CAN ID of the transmit PDO 7Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid | |
| 0x02 transmissiontype | rw USINT 0x01 | 0x00 = synch acyclic | 0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred | ||
| 0x03 inhibit time rw UINT 0 delay time in the transmissiontype "asynch" before the PDO istransmitted again at the earliest.(0...65535 • 100 μs) | |||||
| 0x04 reserved rw USINT 0 reserve | |||||
| 0x05 event timewUINT 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured. | |||||
| 0x1807 0x00 TransmitPDO Com-municationParameterNumber ofentries | ro USINT 0x05 Configuration transmit PDO 8number of entries = 5 | ||||
| 0x01 COBID usedby PDO | rw U DINT 0x481 +Node ID | CAN ID of the transmit PDO 8Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid | |||
| 0x02 transmissiontype | rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred | ||||
| 0x03 inhibit time rw UINT 0 delay time in the transmissiontype "asynch" before the PDO istransmitted again at the earliest.(0...65535 • 100 μs) | |||||
| 0x04 reserved rw USINT 0 reserve | |||||
| 0x05 event timewrUINT 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured. | |||||
| 0x1808 0x00 TransmitPDO Com-municationParameterNumber ofentries | ro USINT 0x05 Configuration transmit PDO 9number of entries = 5 | ||||
| 0x01 COBID usedby PDO | rw U DINT 0x182 +Node ID | CAN ID of the transmit PDO 9Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid | |||
| 0x02 transmissiontype | rw USINT 0x01 0x00 = synch acyclic0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred | ||||
| 0x03 inhibit time rw UINT 0 delay time in the transmissiontype "asynch" before the PDO istransmitted again at the earliest.(0...65535 • 100 μs) | |||||
| 0x04 reserved rw USINT 0 reserve | |||||
| 0x05 event timewrUINT 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured. | |||||
| 0x1809 0x00 TransmitPDO Com-municationParameterNumber ofentries | ro USINT 0x05 Configuration transmit PDO 10number of entries = 5 | ||||
| 0x01 COBID usedby PDO | rw U | DINT 0x282 | +Node ID | CAN ID of the transmit PDO 10Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid | |
| 0x02 transmissiontype | rw USINT 0x01 | 0x00 = synch acyclic | 0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred | ||
| 0x03 inhibit time rw UINT 0 delay time in the transmissiontype "asynch" before the PDO istransmitted again at the earliest.(0...65535 • 100 μs) | |||||
| 0x04 reserved rw USINT 0 reserve | |||||
| 0x05 event timewUINT 0 max. transfer break in thetransmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured. | |||||
| 0x180A 0x00 TransmitPDO Com-municationParameterNumber ofentries | ro USINT 0x05 Configuration transmit PDO 11number of entries = 5 | ||||
| 0x01 COBID usedby PDO | rw U | DINT 0x382 | +Node ID | CAN ID of the transmit PDO 11Bit 31 = 0 → PDO is validBit 31 = 1 → PDO is not valid | |
| 0x02 transmissiontype | rw USINT 0x01 | 0x00 = synch acyclic | 0x01...0xF0 = synch cyclic; valuesare only transmitted after „n" synchobjectsn = 1...240 = 0x01...0xF00xFC/0xFD not implemented0xFE = asynch man. spec. event;values are immediately transferred0xFF = asynch device profile event;values are immediately transferred | ||
| 0x03 inhibit time rw UINT 0 | delay time in the transmissiontype "asynch" before the PDO istransmitted again at the earliest.(0...65535 • 100 μs) | ||||
| 0x04 reserved rw USINT 0 | reserve | ||||
| 0x05 event time rw UINT 0 | max. transfer break in the transmissi-on type „asynch" (0...65535 ms)When this time has elapsed, the PDOis transferred even if the appl. eventhas not accured. | ||||
Transmit PDO mapping (index 0x1A00...0x1AFF):
| Index S-idx Designation Data type Default Details | |||||
| 0x1A00 0x00 TransmitPDO mappingNumber ofmappedobjects inPDO | rw U | SINT 0x07 | mapping transmit | PDO 1number of integrated applicationobjects = 7 | |
| 0x01 P | DO mapping | rw U | DINT 0x6000 | 0108 Index 0x6000, SubIndex 0x01binary inputs 00...07: actual values(bit coded) | |
| 0x02 P | DO mapping | rw U | DINT 0x2020 | 0108 Index 0x2020, SubIndex 0x01binary inputs 00...07: flag "shortcircuit" (bit coded) | |
| 0x03 P | DO mapping | rw U | DINT 0x2021 | 0108 Index 0x2021, SubIndex 0x01binary inputs 00...07: flag "wire break"(bit coded) | |
| 0x04 P | DO mapping | rw U | DINT 0x2025 | 0108 Index 0x2025, SubIndex 0x01inputs 00, 01, 02 und 03: flag "over-load" (bit coded) | |
| 0x05 P | DO mapping | rw U | DINT 0x2022 | 0108 Index 0x2022, SubIndex 0x01outputs 00...07: flag " short circuit "(bit coded) | |
| 0x06 P | DO mapping | rw U | DINT 0x2023 | 0108 Index 0x2023, SubIndex 0x01outputs 00...07: flag " wire break " (bit coded) | |
| 0x07 P | DO mapping | rw U | DINT 0x2024 | 0108 Index 0x2024, SubIndex 0x01outputs 00...07: flag " overload " (bit coded) | |
| 0x1A01 0x00 TransmitPDO mappingNumber of mapped objects in PDO | rw U | SINT 0x04 | mapping transmit | PDO 2 (analogue inputs)number of integrated application objects = 4 | |
| 0x01 P | DO mapping | rw U | DINT 0x640 | 4 0110 Index 0x6404, SubIndex 0x01 analogue input 00: actual value (depending on the configuration 0x2000) | |
| 0x02 P | DO mapping | rw U | DINT 0x640 | 4 0210 Index 0x6404, SubIndex 0x02 analogue input 01: actual value (depending on the configuration 0x2000)) | |
| 0x03 P | DO mapping | rw U | DINT 0x640 | 4 0310 Index 0x6404, SubIndex 0x03 analogue input 02: actual value (depending on the configuration 0x2000) | |
| 0x04 P | DO mapping | rw U | DINT 0x640 | 4 0410 Index 0x6404, SubIndex 0x04 analogue input 03: actual value (depending on the configuration 0x2000) | |
| 0x1A02 0x00 TransmitPDO mappingNumber of mapped objects in PDO | rw U | SINT 0x04 | mapping transmit | PDO 3number of integrated application objects = 4 | |
| 0x01 P | DO mapping | rw U | DINT 0x203 | 0 0110 Index 0x2030, SubIndex 0x01input 04: actual resistor value | |
| 0x02 P | DO mapping | rw U | DINT 0x203 | 0 0210 Index 0x2030, SubIndex 0x02input 05: actual resistor value | |
| 0x03 P | DO mapping | rw U | DINT 0x203 | 0 0310 Index 0x2030, SubIndex 0x03input 06: actual resistor value | |
| 0x04 P | DO mapping | rw U | DINT 0x203 | 0 0410 Index 0x2030, SubIndex 0x04input 07: actual resistor value | |
| Index S-idx Designation Data type Default Details | ||||||
| 0x1A03 | 0x00 Transmit | PDO mappingNumber ofmappedobjects inPDO | rw USINT 0x02 | mapping transmit | PDO 4 (periodetime IN00...IN01)number of integrated applicationobjects = 2 | |
| 0x01 P | DO mapping | rw UDINT 0x201 | 2 0120 Index 0x2 | 2012, SubIndex 0x01frequency input IN00: periode time ofthe signal | ||
| 0x02 P | DO mapping | rw UDINT 0x201 | 2 0220 Index 0x2 | 2012, SubIndex 0x02frequency input IN01: periode time ofthe signal | ||
| 0x1A04 | 0x00 Transmit | PDO mappingNumber ofmappedobjects inPDO | rw USINT 0x02 | mapping transmit | PDO 5 (periodetime IN02...IN03)number of integrated applicationobjects = 2 | |
| 0x01 P | DO mapping | rw UDINT 0x201 | 2 0320 Index 0x2 | 2012, SubIndex 0x03frequency input IN02: periode time ofthe signal | ||
| 0x02 P | DO mapping | rw UDINT 0x201 | 2 0420 Index 0x2 | 2012, SubIndex 0x04frequency input IN03: periode time ofthe signal | ||
| 0x1A05 | 0x00 Transmit | PDO mappingNumber ofmappedobjects inPDO | rw USINT 0x04 | mapping transmit | PDO 6 (duty cycleof the signal on the frequency inputIN00, IN01, IN02, IN03)number of integrated applicationobjects = 4 | |
| 0x01 P | DO mapping | rw UDINT 0x201 | 4 0110 Index 0x2 | 2014, SubIndex 0x01frequency input IN00: duty cycle ofthe signal in %o | ||
| 0x02 P | DO mapping | rw UDINT 0x201 | 4 0210 Index 0x2 | 2014, SubIndex 0x02frequency input IN01: duty cycle ofthe signal in %o | ||
| 0x03 P | DO mapping | rw UDINT 0x201 | 4 0310 Index 0x2 | 2014, SubIndex 0x03frequency input IN02: duty cycle ofthe signal in %o | ||
| 0x04 P | DO mapping | rw UDINT 0x201 | 4 0410 Index 0x2 | 2014, SubIndex 0x04frequency input IN03: duty cycle ofthe signal in %o | ||
| Index S-idx Designation Data type Default Details | ||||||
| 0x1A06 0x00 TransmitPDO mappingNumber ofmappedobjects inPDO | rw U | SINT 0x02 | mapping transmit | PDO 7 (frequencyon IN00...IN01)number of integrated applicationobjects = 2 | ||
| 0x01 PDO mapping | rw U | DINT 0x2015 | 0120 Index 0x2015, SubIndex 0x01frequency input IN00: frequencyvalue of the signal in Hz | |||
| 0x02 PDO mapping | rw U | DINT 0x2015 | 0220 Index 0x2015, SubIndex 0x02frequency input IN01: frequencyvalue of the signal in Hz | |||
| 0x1A07 0x00 TransmitPDO mappingNumber ofmappedobjects inPDO | rw U | SINT 0x02 | mapping transmit | PDO 8 (frequencyon IN02...IN03)number of integrated applicationobjects = 2 | ||
| 0x01 PDO mapping | rw U | DINT 0x2015 | 0320 Index 0x2015, SubIndex 0x03frequency input IN02: frequencyvalue of the signal in Hz | |||
| 0x02 PDO mapping | rw U | DINT 0x2015 | 0420 Index 0x2015, SubIndex 0x04frequency input IN03: frequencyvalue of the signal in Hz | |||
| 0x1A08 0x00 TransmitPDO mappingNumber ofmappedobjects inPDO | rw U | SINT 0x04 | mapping transmit | PDO 9 (outputcurrent OUT00...OUT03)number of integrated applicationobjects = 4 | ||
| 0x01 PDO mapping | rw U | DINT 0x2002 | 0110 Index 0x2002, SubIndex 0x01current on output OUT00 | |||
| 0x02 PDO mapping | rw U | DINT 0x2002 | 0210 Index 0x2002, SubIndex 0x02current on output OUT01 | |||
| 0x03 PDO mapping | rw U | DINT 0x2002 | 0310 Index 0x2002, SubIndex 0x03current on output OUT02 | |||
| 0x04 PDO mapping | rw U | DINT 0x2002 | 0410 Index 0x2002, SubIndex 0x04current on output OUT03 | |||
| 0x1A09 0x00 TransmitPDO mappingNumber ofmappedobjects inPDO | rw U | SINT 0x04 | mapping transmit | PDO 10 (outputcurrent OUT04...OUT07)number of integrated applicationobjects = 4 | ||
| 0x01 P | DO mapping | rw U | DINT 0x2002 0510 Index 0x2002, SubIndex 0x05current on output OUT04 | |||
| 0x02 P | DO mapping | rw U | DINT 0x2002 0610 Index 0x2002, SubIndex 0x06current on output OUT05 | |||
| 0x03 P | DO mapping | rw U | DINT 0x2002 0710 Index 0x2002, SubIndex 0x07current on output OUT06 | |||
| 0x04 P | DO mapping | rw U | DINT 0x2002 0810 Index 0x2002, SubIndex 0x08current on output OUT07 | |||
| 0x1A0A 0x00 TransmitPDO mappingNumber ofmappedobjects inPDO | rw U | SINT 0x03 | mapping transmit | PDO 11 (systemflag)number of integrated applicationobjects = 4 | ||
| 0x01 P | DO mapping | rw U | DINT 0x2040 0110 Index 0x2040, SubIndex 0x01supply voltage of the system VBBS | |||
| 0x02 P | DO mapping | rw U | DINT 0x2041 0110 Index 0x2041, SubIndex 0x01output supply voltage VBB2 | |||
| 0x03 P | DO mapping | rw U | DINT 0x2050 0010 Index 0x2050, SubIndex 0x00system temperature in °C | |||
Manufacturer-specific objekts (index 0x2000...0x6FFF):
| Index S-idx Designation Data type Default Details | ||||||
| 0x2000 0x00 IO configuration Largest sub-index supported | ro USINT 16 Configuration inputs /outputs largest supported Sub-index = 32 | |||||
| 0x01 Configuration IN00 | rw USINT 10 0 = 0x00 | 3 = 0x036 = 0x067 = 0x079 = 0x0910 = 0x0A11 = 0x0B12 = 0x0C14 = 0x0E20 = 0x14 | off Input IN000...10 000 mV ratiometric 0...1000 %00...20 000 μA0...32 000 mV binary plus switched binary plus switched with diagnosis binary minus switched frequency0...30 000 Hz period duration as ratio 0...1 000 % | |||
| 0x02 Configuration IN01 | rw USINT 10 0 = 0x00 | 3 = 0x036 = 0x067 = 0x079 = 0x0910 = 0x0A11 = 0x0B12 = 0x0C14 = 0x0E20 = 0x14 | off Input IN010...10 000 mV ratiometric 0...1000 %00...20 000 μA0...32 000 mV binary plus switched binary plus switched with diagnosis binary minus switched frequency0...30 000 Hz period duration as ratio 0...1 000 % | |||
| 0x03 Configuration IN02 | rw USINT 10 0 = 0x00 | 3 = 0x036 = 0x067 = 0x079 = 0x0910 = 0x0A11 = 0x0B12 = 0x0C14 = 0x0E20 = 0x14 | off Input IN020...10 000 mV ratiometric 0...1000 %00...20 000 μA0...32 000 mV binary plus switched binary plus switched with diagnosis binary minus switched frequency0...30 000 Hz period duration as ratio 0...1 000 % | |||
| 0x2000 0x04 Configuration IN03 | rw USINT 10 0 = 0x00 | 3 = 0x036 = 0x067 = 0x079 = 0x0910 = 0x0A11 = 0x0B12 = 0x0C14 = 0x0E20 = 0x14 | off Input IN030...10 000 mV ratiometric 0...1000 %00...20 000 μA0...32 000 mV binary plus switched binary plus switched with diagnosis binary minus switched frequency0...30 000 Hz period duration as ratio 0...1 000 % | |||
| 0x2000 0x0A Configuration OUT01 | rw USINT 2 0 = 0x00 | 2 = 0x024 = 0x045 = 0x0515 = 0x0F16 = 0x10 | off Output OUT01 binary plus switched PWM output current control binary plus switched with diagnosis binary plus switched with diagnosis + protection | |||
| 0x2000 0x0F Configuration OUT06 | rw USINT 2 0 = 0x00 | 2 = 0x024 = 0x045 = 0x0515 = 0x0F16 = 0x10 | off Output OUT06binary plus switchedPWM outputcurrent controlbinary plus switchedwith diagnosisbinary plus switchedwith diagnosis +protection | |||
| 0x10 Configuration OUT07 | rw USINT 2 0 = 0x00 | 2 = 0x024 = 0x045 = 0x0515 = 0x0F16 = 0x10 | off Output OUT07binary plus switchedPWM outputcurrent controlbinary plus switchedwith diagnosisbinary plus switchedwith diagnosis +protection | |||
| 0x2001 0x00 PWM frequency | ro USINT 8 Largest sub-index supported | |||||
| 0x2002 0x00 Current value ro USINT 8 Largest sub-index supported | ||||||
| 0x01 Current value OUT00 | ro UI NT 0 20...4000 OUT00 output current | [mA] | ||||
| 0x02 Current value OUT01 | ro UI NT 0 20...4000 OUT01 output current | [mA] | ||||
| 0x03 Current value OUT02 | ro UI NT 0 20...4000 OUT02 output current | [mA] | ||||
| 0x04 Current value OUT03 | ro UI NT 0 20...4000 OUT03 output current | [mA] | ||||
| 0x05 Current value OUT04 | ro UI NT 0 20...2500 OUT04 output current | [mA] | ||||
| 0x06 Current value OUT05 | ro UI NT 0 20...2500 OUT05 output current | [mA] | ||||
| 0x07 Current value OUT06 | ro UI NT 0 20...2500 OUT06 output current | [mA] | ||||
| 0x08 Current value OUT07 | ro UI NT 0 20...2500 OUT07 output current | [mA] | ||||
| 0x2004 0x00 P-value ro USINT 8 Largest sub-index supported | ||||||
| 0x01 P-value OUT00 | rw USINT 30 0..255 OUT00 P-value for current control | |||||
| 0x02 P-value OUT01 | rw USINT 30 0..255 OUT01 P-value for current control | |||||
| 0x03 P-value OUT02 | rw USINT 30 0..255 OUT02 P-value for current control | |||||
| 0x04 P-value OUT03 | rw USINT 30 0..255 OUT03 P-value for current control | |||||
| 0x05 P-value OUT04 | rw USINT 30 0..255 OUT04 P-value for current control | |||||
| 0x06 P-value OUT05 | rw USINT 30 0..255 OUT05 P-value for current control | |||||
| 0x07 P-value OUT06 | rw USINT 30 0..255 OUT06 P-value for current control | |||||
| 0x08 P-value OUT07 | rw USINT 30 0..255 OUT07 P-value for current control | |||||
| 0x2005 0x00 I-value ro USINT 8 L largest sub-index supported | ||||||
| 0x2006 0x00 PWM dither frequency ro USINT 8 Largest sub-index supported | ||||||
| 0x2007 0x00 PW | M dither value | ro USINT 8 Largest sub-index supported | ||||
| 0x01 PWM dither value OUT00 | rw UI NT 0 0...1 000 OUT00 PWM dither | value [%] | ||||
| 0x02 PWM dither value OUT01 | rw UI NT 0 0...1 000 OUT01 PWM dither | value [%] | ||||
| 0x03 PWM dither value OUT02 | rw UI NT 0 0...1 000 OUT02 PWM dither | value [%] | ||||
| 0x04 PWM dither value OUT03 | rw UI NT 0 0...1 000 OUT03 PWM dither | value [%] | ||||
| 0x05 PWM dither value OUT04 | rw UI NT 0 0...1 000 OUT04 PWM dither | value [%] | ||||
| 0x06 PWM dither value OUT05 | rw UI NT 0 0...1 000 OUT05 PWM dither | value [%] | ||||
| 0x07 PWM dither value OUT06 | rw UI NT 0 0...1 000 OUT06 PWM dither | value [%] | ||||
| 0x08 PWM dither value OUT07 | rw UI NT 0 0...1 000 OUT07 PWM dither | value [%] | ||||
| 0x2012 0x00 Period input ro USINT 4 Largest sub-index supported | ||||||
| 0x2013 0x00 Period input number of periods for average | ro USINT 4 Largest sub-index supported | |||||
| Index S-idx Designation Data type Default Details | |||||||
| 0x2014 0x00 Period input– ratio value | ro USINT 4 Largest sub-index supported | ||||||
| 0x2015 0x00 Frequency input | ro USINT 4 Largest sub-index supported | ||||||
| 0x2016 0x00 Timebase ro USINT 4 Largest sub-index supported | |||||||
| 0x2020 0x00 Input – short to supply voltage | ro USINT 1 Largest sub-index supported | ||||||
| Index S-idx Designation Data type Default Details | |||||||
| 0x2021 0x00 Input - wire break | ro USINT 1 Largest sub-index supported | ||||||
| ro USINT 0 0 = normal | 1 = wire break | channels (bit coded)0b---- ---X = IN000b---- --X- = IN010b---- -X-- = IN020b---- X--- = IN030b----X ---- = IN040b--X- ---- = IN050b-X-- ---- = IN060bX--- ---- = IN07 | |||||
| 0x01 Wire breakIN00...IN07 | |||||||
| 0x2022 0x00 Output - short circuit | ro USINT 1 Largest sub-index supported | ||||||
| 0x01 Short circuitOUT00...OUT07 | ro USINT 0 0 = normal | 1 = shortcircuit | |||||
| 0x2023 0x00 Output - open circuit | ro USINT 1 Largest sub-index supported | ||||||
| 0x01 Open circuitOUT00...OUT07 | ro USINT 0 0 = normal | 1 = opencircuit | |||||
| 0x2024 0x00 Output - overload | ro USINT 1 Largest sub-index supported | ||||||
| 0x01 OverloadOUT00...OUT07 | ro USINT 0 0 = normal | 1 = overload | |||||
| Index S-idx Designation Data type Default Details | |||||||
| 0x2025 0x00 Input analog - overcurrent | ro USINT 1 Largest sub-index supported | ||||||
| 0x01 Overcurrent IN00, IN01,IN02 und IN03 | ro USINT 0 0 = normal | 1 = overcurrent | channels (bit coded)0b---- ---X = IN000b---- --X- = IN010b---- -X-- = IN020b---- X--- = IN03 | ||||
| 0x2030 0x00 Input resistor ro USINT 4 Largest sub-index supported | |||||||
| 0x01 Resistance IN04 | ro UI NT 0 0...30 | 000 IN04 resistance | [Ohms] | ||||
| 0x02 Resistance IN05 | ro UI NT 0 0...30 | 000 IN05 resistance | [Ohms] | ||||
| 0x03 Resistance IN06 | ro UI NT 0 0...30 | 000 IN06 resistance | [Ohms] | ||||
| 0x04 Resistance IN07 | ro UI NT 0 0...30 | 000 IN07 resistance | [Ohms] | ||||
| 0x2040 0x00 System supply voltage VBBS | ro USINT 1 Largest sub-index supported | ||||||
| 0x01 VBBS ro USINT 0 VBB$ voltage [mV] | |||||||
| 0x2041 0x00 Output supply voltage | ro USINT 1 Largest sub-index supported | ||||||
| 0x01 VBB2 ro UINT 0 VBB2 voltage [mV] | |||||||
| 0x2050 Device temperature | ro UI NT 0 temperature [°C] | ||||||
| 0x20F0 | Node ID | rw | USINT | 125 | 1...125 | node ID[!] value(0x20F0) != value(20F1) | |
| 0x20F1 | Node ID | rw | USINT | 125 | 1...125 | node ID[!] value(0x20F0) != value(20F1) | |
| 0x20F2 | Baud rate | rw USINT 3 baud rate | [!] value(0x20F2) != value(20F3) | ||||
| 0 | 1000 kBit/s | ||||||
| 1 | 800 kBit/s | ||||||
| 2 | 500 kBit/s | ||||||
| 3 | 250 kBit/s | ||||||
| 4 | 125 kBit/s | ||||||
| 5 | 100 kBit/s | ||||||
| 6 | 50 kBit/s | ||||||
| 7 | 20 kBit/s | ||||||
| Index S-idx Designation Data type Default Details | ||||||
| 0x20F3 | Baud rate | rw USINT 3 baud rate | [!] value(0x20F2) != value(20F3) | |||
| 0x20F4 | Autostart | rw UINT 0 not used | ||||
| 0x20F5 | Lock edit | mode | rw USINT 0 0 = edit mode unlocked | 1 = edit mode locked | ||
| 0x20F6 | CAN inter-face | rw USINT 1 1...2 | CAN interface | [!] value(0x20F6) != value(20F7) | ||
| 0x20F7 | CAN inter-face | rw USINT 1 1...2 | CAN interface | [!] value(0x20F6) != value(20F7) | ||
| 0x6000 | 0x00 Binary inputLargest sub-index supported | ro USINT 0x02 | Binary inputsLargest supported sub-index = 2 | |||
| 0x01 Binary inputsIN00 - IN07 | ro USINT 0 Binary inputs IN00... | IN070b---- ---X = IN000b---- --X- = IN010b---- -X-- = IN020b---- X--- = IN030b----X ---- = IN040b--X- ---- = IN050b-X-- ---- = IN060bX--- ---- = IN07 | ||||
| 0x6200 | 0x00 Binary outputLargest sub-index supported | ro USINT 0x02 | Binary outputsLargest supported sub-index = 2 | |||
| 0x01 Binary outputs OUT00 - OUT07 | wo | USINT 0 Binary outputs OUT00...OUT070b---- ---X = OUT000b---- --X- = OUT010b---- -X-- = OUT020b---- X--- = OUT030b----X ---- = OUT040b--X- ---- = OUT050b-X-- ---- = OUT060bX--- ---- = OUT07 | ||||
| Index S-idx Designation Data type Default Details | ||||||
| 0x6404 0x00 Analogue input Largest sub-index supported | ro USINT 0x04 Analogue inputs | Largest supported sub-index = 4 | ||||
| ro UI NT -- Analogue value of input IN00 | ||||||
| ro UI NT -- Analogue value of input IN01 | ||||||
| ro UI NT -- Analogue value of input IN02 | ||||||
| ro UI NT -- Analogue value of input IN03 | ||||||
| 0x6414 0x00 PWM output Largest sub-index supported | ro USINT 0x08 PWM outputs | Largest supported sub-index = 12 | ||||
| wo UI NT -- Value for PWM output OUT00 | ||||||
| wo UI NT -- Value for PWM output OUT01 | ||||||
| wo UI NT -- Value for PWM output OUT02 | ||||||
| wo UI NT -- Value for PWM output OUT03 | ||||||
| wo UI NT -- Value for PWM output OUT04 | ||||||
| wo UI NT -- Value for PWM output OUT05 | ||||||
| wo UI NT -- Value for PWM output OUT06 | ||||||
| wo UI NT -- Value for PWM output OUT07 | ||||||
12.3 SDOs error messages
12.3.1 CR2040
The following messages are created in case of an error:
| Index S-idx Designation Data type Default Details | |||||||
| 0x1001 Error register ro USINT 0 Error register bit coded to profil 301 permissible values:0b0000 0000 = no error0b0000 0001 = generic error0b0001 0000 = communication error0b1000 0000 = manufacturer specific | |||||||
| 0x1003 0x00 Predefined error fieldNumber of entries | rw UDINT 0 An error list with 4 entries is supported. | ||||||
| 0x2020 0x00 Input - short to supply voltage | ro USINT 2 Largest sub-index supported | ||||||
| 0x2021 0x00 Input - wire break ro USINT 2 Largest sub-index supported | |||||||
| 0x02 Wire break IN08,IN10, IN12, IN14 | ro USINT 0 0 = normal | 1 = wire break | channels (bit coded)0b---- ---X = IN000b---- --X- = IN010b---- -X-- = IN020b---- X--- = IN030b----X ---- = IN040b--X- ---- = IN050b-X-- ---- = IN060bX--- ---- = IN07 | ||||
| 0x2025 0x00 Input analog -overcurrent | ro USINT 1 Largest sub-index supported | ||||||
| ro USINT 0 0 = normal | 1 = overcurrent | channels (bit coded)0b---- ---X = IN080b---- --X- = IN100b---- -X-- = IN120b---- X--- = IN14 | |||||
| 0x01 OvercurrentIN00...IN07 | |||||||
12.3.2 CR2041
The following messages are created in case of an error:
| Index S- | dx Designation Data type Default Details | ||||||||||||
| 0x1001 | Error register ro USINT 0 Error | register bit coded to profil | 301 permissible values:0b0000 0000 = no error0b0000 0001 = generic error0b0001 0000 = communication error0b1000 0000 = manufacturer specific | ||||||||||
| 0x1003 | 0x00 Predefined error fieldNumber of entries | rw UDINT 0 An | error list with 4 entries is supported. | ||||||||||
| 0x01 Error history ro UDINT | 0 Error occurred; coded according to EMCY listThe last error is indicated in the sub-index 1 | ||||||||||||
| 0x02 Error history ro UDINT | 0 Error occurred; coded according to EMCY list | ||||||||||||
| 0x03 Error history ro UDINT | 0 Error occurred; coded according to EMCY list | ||||||||||||
| 0x04 Error history ro UDINT | 0 Error occurred; coded according to EMCY list | ||||||||||||
| 0x05 Error history ro UDINT | 0 Error occurred; coded according to EMCY list | ||||||||||||
| 0x2022 | 0x00 Output - short circuit | ro USINT 2 Largest sub-index supported | |||||||||||
| 0x01 Short circuitOUT00...OUT07 | ro USINT 0 0 = normal | 1 = short circuit | channels (bit coded)0b---- ---X = OUT000b---- --X- = OUT010b---- -X-- = OUT020b---- X--- = OUT030b----X ---- = OUT040b--X- ---- = OUT050b-X-- ---- = OUT060bX---- ---- = OUT07 | ||||||||||
| 0x02 Short circuitOUT08...OUT15 | ro USINT 0 0 = normal | 1 = short circuit | channels (bit coded)0b---- ---X = OUT080b---- --X- = OUT090b---- -X-- = OUT100b---- X--- = OUT110b--X ---- = OUT120b--X- ---- = OUT130b-X-- ---- = OUT140bX---- ---- = OUT15 | ||||||||||
| Index S-idx Designation Data type Default Details | |||||||||||||
| 0x2023 0x00 Output – open circuit | ro USINT 2 Largest sub-index supported | ||||||||||||
| 0x01 Open circuitOUT00...OUT07 | ro USINT 0 0 = normal | 1 = open circuit | channels (bit coded)0b---- ---X = OUT000b---- --X- = OUT010b---- -X-- = OUT020b---- X--- = OUT030b---X ---- = OUT040b--X- ---- = OUT050b-X-- ---- = OUT060bX--- ---- = OUT07 | ||||||||||
| 0x02 Open circuitOUT08...OUT15 | ro USINT 0 0 = normal | 1 = open circuit | channels (bit coded)0b---- ---X = OUT080b---- --X- = OUT090b---- -X-- = OUT100b---- X--- = OUT110b---X ---- = OUT120b--X- ---- = OUT130b-X-- ---- = OUT140bX--- ---- = OUT15 | ||||||||||
| 0x2024 0x00 Output – overload ro USINT 1 Largest sub-index supported | |||||||||||||
| 0x01 OverloadOUT00...OUT07 | ro USINT 0 0 = normal | 1 = overload | channels (bit coded)0b---- ---X = OUT000b---- --X- = OUT010b---- -X-- = OUT020b---- X--- = OUT030b---X ---- = OUT040b--X- ---- = OUT050b-X-- ---- = OUT060bX--- ---- = OUT07 | ||||||||||
12.3.3 CR2042
The following messages are created in case of an error:
| Index S- | dx Designation Data type Default Details | ||||||||||
| 0x1001 | Error register ro USINT 0 Error register bit coded to profit 301 permissible values:0b0000 0000 = no error0b0000 0001 = generic error0b0001 0000 = communication error0b1000 0000 = manufacturer specific | ||||||||||
| 0x1003 | 0x00 Predefined error fieldNumber of entries | rw UDINT 0 An error list with 4 entries is supported. | |||||||||
| 0x01 Error history ro UDINT | 0 Error occurred; coded according to EMCY listThe last error is indicated in the sub-index 1 | ||||||||||
| 0x02 Error history ro UDINT | 0 Error occurred; coded according to EMCY list | ||||||||||
| 0x03 Error history ro UDINT | 0 Error occurred; coded according to EMCY list | ||||||||||
| 0x04 Error history ro UDINT | 0 Error occurred; coded according to EMCY list | ||||||||||
| 0x05 Error history ro UDINT | 0 Error occurred; coded according to EMCY list | ||||||||||
| 0x2020 | 0x00 Input - short to supply voltage | ro USINT 1 Largest sub-index supported | |||||||||
| 0x01 Short to supply voltageIN00...IN07 | ro USINT 0 0 = normal | 1 = short circuit | channels (bit coded)0b---- ---X = IN000b---- --X- = IN010b---- -X-- = IN020b---- X--- = IN030b----X ---- = IN040b--X- ---- = IN050b-X-- ---- = IN060bX--- ---- = IN07 | ||||||||
| 0x2021 | 0x00 Input - wire break ro USINT 1 Largest sub-index supported | ||||||||||
| 0x01 Wire break IN00...IN07 | ro USINT 0 0 = normal | 1 = wire break | channels (bit coded)0b---- ---X = IN000b---- --X- = IN010b---- -X-- = IN020b---- X--- = IN030b----X ---- = IN040b--X- ---- = IN050b-X-- ---- = IN060bX--- ---- = IN07 | ||||||||
| Index S-idx Designation Data type Default Details | |||||||||||
| 0x2022 0x00 Output - short circuit | ro USINT 1 Largest sub-index supported | ||||||||||
| ro USINT 0 0 = normal | 1 = short circuit | channels (bit coded)0b---- ---X = OUT000b---- --X- = OUT010b---- -X-- = OUT020b---- X--- = OUT030b---X ---- = OUT040b--X- ---- = OUT050b-X-- ---- = OUT060bX--- ---- = OUT07 | |||||||||
| 0x01 Short circuitOUT00...OUT07 | |||||||||||
| 0x2023 0x00 Output - open circuit | ro USINT 1 Largest sub-index supported | ||||||||||
| 0x01 Open circuitOUT00...OUT07 | 1 = open circuit | channels (bit coded)0b---- ---X = OUT000b---- --X- = OUT010b---- -X-- = OUT020b---- X--- = OUT030b---X ---- = OUT040b--X- ---- = OUT050b-X-- ---- = OUT060bX--- ---- = OUT07 | |||||||||
| 0x2024 0x00 Output - overload ro USINT 1 Largest sub-index supported | |||||||||||
| 0x01 OverloadOUT00...OUT07 | 1 = overload | channels (bit coded)0b---- ---X = OUT000b---- --X- = OUT010b---- -X-- = OUT020b---- X--- = OUT030b---X ---- = OUT040b--X- ---- = OUT050b-X-- ---- = OUT060bX--- ---- = OUT07 | |||||||||
| 0x2025 0x00 Input analog - overcurrent | ro USINT 1 Largest sub-index supported | ||||||||||
| 0x01 Overcurrent IN00,IN01, IN02 undIN03 | 1 = overcurrent | channels (bit coded)0b---- ---X = IN000b---- --X- = IN010b---- -X-- = IN020b---- X--- = IN03 | |||||||||
