Kübler Group Table of Contents
HB CANopen Interface - R67070.0002 - 06 EN - 3
5.3.6 LSS Services DS 305 ............................................................................... 44
5.3.7 Data Transmission .................................................................................... 45
5.3.8 Objects in the Predefined Connection Set ................................................ 52
5.3.9 Node Guarding and Heartbeat.................................................................. 54
5.4 CANopen Object Dictionary .................................................................................... 54
5.4.1 Structure of the object dictionary .............................................................. 56
5.4.2 Communication Objects............................................................................ 57
5.4.3 Manufacturer-Specific Objects.................................................................. 68
5.4.4 Device-Specific Objects ............................................................................ 71
5.5 Description of the Objects....................................................................................... 77
5.5.1 Objects not mentioned .............................................................................. 77
5.5.2 Object 0x1000 - Device Type.................................................................... 77
5.5.3 Object 0x1001 - Error Register ................................................................. 77
5.5.4 Object 0x1008 - Device Name .................................................................. 78
5.5.5 Object 0x1009 - Hardware version ........................................................... 78
5.5.6 Object 0x100A - Software version ............................................................ 78
5.5.7 Object 0x1010 - Save Parameters............................................................ 78
5.5.8 Object 0x1011 - Load factory settings ...................................................... 78
5.5.9 Object 0x1016 - Heartbeat Consumer Time ............................................. 79
5.5.10 Object 0x1017 - Producer Heartbeat Time ............................................... 81
5.5.11 Object 0x1008 - Identification Object ........................................................ 81
5.5.12 Object 0x1029 - Error Behavior ............................................................... 81
5.5.13 Object 0x1800 ... 0x1804 - TxPDO1-4...................................................... 82
5.5.14 Object 0x1A00 … 0x1A04 - TPDO1-5 Mapping ....................................... 84
5.5.15 Object 0x1F80 - NMT Startup ................................................................... 84
5.5.16 Object 0x2100 - Baud Rate....................................................................... 85
5.5.17 Object 0x2101 - Node Address................................................................. 86
5.5.18 Object 0x2102 - CAN-bus Termination Off/On ......................................... 86
5.5.19 Object 0x2103 - Firmware Flash Version.................................................. 87
5.5.20 Object 0x2105 - Save All Bus Parameters................................................ 87
5.5.21 Object 0x2120 - Upper / Lower Limit Temperature Position Sensor......... 87
5.5.22 Object 0x2125 - Battery voltage................................................................ 88
5.5.23 Object 0x2130 - Measuring Steps............................................................. 88
5.5.24 Object 0x2140 - User Memory Area ......................................................... 89
5.5.25 Object 0x2150 - Actual Temperature Position Sensor.............................. 90
5.5.26 Object 0x2162 - Raw Value CRC16 ......................................................... 90
5.5.27 Object 0x6000 - Operating Parameters .................................................... 90
5.5.28 Object 0x6001 - Measuring units per revolution (MUR)............................ 92
5.5.29 Object 0x6002 - Total number of measuring units (TMR)......................... 93
5.5.30 Object 0x6003 - Preset value.................................................................... 93
5.5.31 Object 0x6004 - Position value unscaled or scaled .................................. 93
5.5.32 Object 0x600B - Position Raw Value High-Resolution ............................. 94
5.5.33 Object 0x600C - Position Raw Value........................................................ 94
5.5.34 Object 0x6030 - Speed Value ................................................................... 94
5.5.35 Object 0x6031 - Speed Parameters.......................................................... 94
5.5.36 Objekt 0x6040 - Acceleration value .......................................................... 95
5.5.37 Object 0x6041 - Acceleration Parameters ................................................ 95
5.5.38 Object 0x6200 - Cycle time....................................................................... 96
5.5.39 Object 0x6400 - Working Area State Register 2 Values ........................... 96
评论0