CANopen device profile 1.1 Device 1 1 CANopen New Product 0 0 0 * bit 16-31: Additional information * bit 0-15: Device profile number * bit 7: manufacturer specific * bit 6: Reserved (always 0) * bit 5: device profile specific * bit 4: communication error (overrun, error state) * bit 3: temperature * bit 2: voltage * bit 1: current * bit 0: generic error * Sub Index 0: Contains number of actual errors. 0 can be written to clear error history. * sub-index 1 and above: * bit 16-31: Manufacturer specific additional information * bit 0-15: Error code as transmited in the Emergency object * bit 31: set to 0 * bit 30: If set, CANopen device generates SYNC object * bit 11-29: set to 0 * bit 0-10: 11-bit CAN-ID Period of SYNC transmission in µs (0 = transmission disabled). Synchronous window leghth in µs (0 = not used). All synchronous PDOs must be transmitted within this time window. The objects at index 100Ch and 100Dh include the guard time in milliseconds and the life time factor. The life time factor multiplied with the guard time gives the life time for the Life Guarding Protocol. It is 0 if not used. The life time factor multiplied with the guard time gives the life time for the node guarding protocol. It is 0 if not used. Sub-indexes 1 and above: * Reading provides information about its storage functionality: * bit 1: If set, CANopen device saves parameters autonomously * bit 0: If set, CANopen device saves parameters on command * Writing value 0x65766173 ('s','a','v','e' from LSB to MSB) stores corresponding data. Sub-indexes 1 and above: * Reading provides information about its restoring capability: * bit 0: If set, CANopen device restores parameters * Writing value 0x64616F6C ('l','o','a','d' from LSB to MSB) restores corresponding data. * bit 31: If set, CANopen device consumes TIME message * bit 30: If set, CANopen device produces TIME message * bit 11-29: set to 0 * bit 0-10: 11-bit CAN-ID * bit 31: If set, EMCY does NOT exist / is NOT valid * bit 11-30: set to 0 * bit 0-10: 11-bit CAN-ID Inhibit time of emergency message in multiples of 100µs. The value 0 disables the inhibit time. Consumer Heartbeat Time: * bit 24-31: set to 0 * bit 16-23: Node ID of the monitored node. If 0 or greater than 127, sub-entry is not used. * bit 0-15: Heartbeat time in ms (if 0, sub-intry is not used). Value should be higher than the corresponding producer heartbeat time. Heartbeat producer time in ms (0 = disable transmission). * Vendor-ID, assigned by CiA * Product code, manufacturer specific * Revision number: * bit 16-31: Major revision number (CANopen behavior has changed) * bit 0-15: Minor revision num. (CANopen behavior has not changed) * Serial number, manufacturer specific * Value 0: SYNC message is transmitted with data length 0. * Value 1: reserved. * Value 2-240: SYNC message has one data byte, which contains the counter. * Value 241-255: reserved. Emergency consumer 1 to 127: * bit 31: If set, EMCY consumer does NOT exist / is NOT valid * bit 11-30: set to 0 * bit 0-10: 11-bit CAN-ID Sub-indexes 1 and above: * Value 0x00: on error change to NMT state Pre-operational (only if currently in NMT state Operational) * Value 0x01: on error do nothing * Value 0x02: on error change to NMT state Stopped Sub-indexes 1 and 2: * bit 11-31: set to 0 * bit 0-10: 11-bit CAN-ID * Sub-indexes 1 and 2: * bit 31: If set, SDO does NOT exist / is NOT valid * bit 30: If set, value is assigned dynamically * bit 11-29: set to 0 * bit 0-10: 11-bit CAN-ID * Node-ID of the SDO client, 0x01 to 0x7F * Sub-indexes 1 and 2: * bit 31: If set, SDO does NOT exist / is NOT valid * bit 30: If set, value is assigned dynamically * bit 11-29: set to 0 * bit 0-10: 11-bit CAN-ID * Node-ID of the SDO server, 0x01 to 0x7F * COB-ID used by RPDO: * bit 31: If set, PDO does not exist / is not valid * bit 11-30: set to 0 * bit 0-10: 11-bit CAN-ID * Transmission type: * Value 0-240: synchronous, processed after next reception of SYNC object * Value 241-253: not used * Value 254: event-driven (manufacturer-specific) * Value 255: event-driven (device profile and application profile specific) * Event timer in ms (0 = disabled) for deadline monitoring. * COB-ID used by RPDO: * bit 31: If set, PDO does not exist / is not valid * bit 11-30: set to 0 * bit 0-10: 11-bit CAN-ID * Transmission type: * Value 0-240: synchronous, processed after next reception of SYNC object * Value 241-253: not used * Value 254: event-driven (manufacturer-specific) * Value 255: event-driven (device profile and application profile specific) * Event timer in ms (0 = disabled) for deadline monitoring. * COB-ID used by RPDO: * bit 31: If set, PDO does not exist / is not valid * bit 11-30: set to 0 * bit 0-10: 11-bit CAN-ID * Transmission type: * Value 0-240: synchronous, processed after next reception of SYNC object * Value 241-253: not used * Value 254: event-driven (manufacturer-specific) * Value 255: event-driven (device profile and application profile specific) * Event timer in ms (0 = disabled) for deadline monitoring. * COB-ID used by RPDO: * bit 31: If set, PDO does not exist / is not valid * bit 11-30: set to 0 * bit 0-10: 11-bit CAN-ID * Transmission type: * Value 0-240: synchronous, processed after next reception of SYNC object * Value 241-253: not used * Value 254: event-driven (manufacturer-specific) * Value 255: event-driven (device profile and application profile specific) * Event timer in ms (0 = disabled) for deadline monitoring. * COB-ID used by RPDO: * bit 31: If set, PDO does not exist / is not valid * bit 11-30: set to 0 * bit 0-10: 11-bit CAN-ID * Transmission type: * Value 0-240: synchronous, processed after next reception of SYNC object * Value 241-253: not used * Value 254: event-driven (manufacturer-specific) * Value 255: event-driven (device profile and application profile specific) * Event timer in ms (0 = disabled) for deadline monitoring. * Number of mapped application objects in PDO: * Value 0: mapping is disabled. * Value 1: sub-index 0x01 is valid. * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. * Application object 1-8: * bit 16-31: index * bit 8-15: sub-index * bit 0-7: data length in bits * Number of mapped application objects in PDO: * Value 0: mapping is disabled. * Value 1: sub-index 0x01 is valid. * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. * Application object 1-8: * bit 16-31: index * bit 8-15: sub-index * bit 0-7: data length in bits * Number of mapped application objects in PDO: * Value 0: mapping is disabled. * Value 1: sub-index 0x01 is valid. * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. * Application object 1-8: * bit 16-31: index * bit 8-15: sub-index * bit 0-7: data length in bits * Number of mapped application objects in PDO: * Value 0: mapping is disabled. * Value 1: sub-index 0x01 is valid. * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. * Application object 1-8: * bit 16-31: index * bit 8-15: sub-index * bit 0-7: data length in bits * Number of mapped application objects in PDO: * Value 0: mapping is disabled. * Value 1: sub-index 0x01 is valid. * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. * Application object 1-8: * bit 16-31: index * bit 8-15: sub-index * bit 0-7: data length in bits * COB-ID used by RPDO: * bit 31: If set, PDO does not exist / is not valid * bit 30: If set, NO RTR is allowed on this PDO * bit 11-29: set to 0 * bit 0-10: 11-bit CAN-ID * Transmission type: * Value 0: synchronous (acyclic) * Value 1-240: synchronous (cyclic every (1-240)-th sync) * Value 241-253: not used * Value 254: event-driven (manufacturer-specific) * Value 255: event-driven (device profile and application profile specific) * Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled). * Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled). * SYNC start value * Value 0: Counter of the SYNC message shall not be processed. * Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message. * COB-ID used by RPDO: * bit 31: If set, PDO does not exist / is not valid * bit 30: If set, NO RTR is allowed on this PDO * bit 11-29: set to 0 * bit 0-10: 11-bit CAN-ID * Transmission type: * Value 0: synchronous (acyclic) * Value 1-240: synchronous (cyclic every (1-240)-th sync) * Value 241-253: not used * Value 254: event-driven (manufacturer-specific) * Value 255: event-driven (device profile and application profile specific) * Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled). * Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled). * SYNC start value * Value 0: Counter of the SYNC message shall not be processed. * Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message. * COB-ID used by RPDO: * bit 31: If set, PDO does not exist / is not valid * bit 30: If set, NO RTR is allowed on this PDO * bit 11-29: set to 0 * bit 0-10: 11-bit CAN-ID * Transmission type: * Value 0: synchronous (acyclic) * Value 1-240: synchronous (cyclic every (1-240)-th sync) * Value 241-253: not used * Value 254: event-driven (manufacturer-specific) * Value 255: event-driven (device profile and application profile specific) * Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled). * Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled). * SYNC start value * Value 0: Counter of the SYNC message shall not be processed. * Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message. * COB-ID used by RPDO: * bit 31: If set, PDO does not exist / is not valid * bit 30: If set, NO RTR is allowed on this PDO * bit 11-29: set to 0 * bit 0-10: 11-bit CAN-ID * Transmission type: * Value 0: synchronous (acyclic) * Value 1-240: synchronous (cyclic every (1-240)-th sync) * Value 241-253: not used * Value 254: event-driven (manufacturer-specific) * Value 255: event-driven (device profile and application profile specific) * Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled). * Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled). * SYNC start value * Value 0: Counter of the SYNC message shall not be processed. * Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message. * COB-ID used by RPDO: * bit 31: If set, PDO does not exist / is not valid * bit 30: If set, NO RTR is allowed on this PDO * bit 11-29: set to 0 * bit 0-10: 11-bit CAN-ID * Transmission type: * Value 0: synchronous (acyclic) * Value 1-240: synchronous (cyclic every (1-240)-th sync) * Value 241-253: not used * Value 254: event-driven (manufacturer-specific) * Value 255: event-driven (device profile and application profile specific) * Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled). * Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled). * SYNC start value * Value 0: Counter of the SYNC message shall not be processed. * Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message. * Number of mapped application objects in PDO: * Value 0: mapping is disabled. * Value 1: sub-index 0x01 is valid. * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. * Application object 1-8: * bit 16-31: index * bit 8-15: sub-index * bit 0-7: data length in bits * Number of mapped application objects in PDO: * Value 0: mapping is disabled. * Value 1: sub-index 0x01 is valid. * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. * Application object 1-8: * bit 16-31: index * bit 8-15: sub-index * bit 0-7: data length in bits * Number of mapped application objects in PDO: * Value 0: mapping is disabled. * Value 1: sub-index 0x01 is valid. * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. * Application object 1-8: * bit 16-31: index * bit 8-15: sub-index * bit 0-7: data length in bits * Number of mapped application objects in PDO: * Value 0: mapping is disabled. * Value 1: sub-index 0x01 is valid. * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. * Application object 1-8: * bit 16-31: index * bit 8-15: sub-index * bit 0-7: data length in bits * Number of mapped application objects in PDO: * Value 0: mapping is disabled. * Value 1: sub-index 0x01 is valid. * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. * Application object 1-8: * bit 16-31: index * bit 8-15: sub-index * bit 0-7: data length in bits CANopen communication network profile 1.1 CommunicationNetwork 1 1 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