ElmoMC CANopen DS 301 Implementation Guide User Manual
ElmoMC Hardware
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Table of contents
Document Outline
- Chapter 1: Introduction
- Chapter 2: CANopen Basics
- Chapter 3: The Object Dictionary
- Chapter 4: Service Data Objects (SDOs)
- Chapter 5: Process Data Objects (PDOs)
- Chapter 6: Emergency (EMCY)
- Chapter 7: Network Management (NMT)
- Chapter 8: SYNC and Time Stamp
- Chapter 9: Binary Interpreter Commands
- Chapter 10: The OS Interpreter
- Chapter 11: The EDS
- Chapter 12: Communication Profile
- Object 0x1000: Device type
- Object 0x1001: Error register
- Object 0x1002: Manufacturer status register
- Object 0x1003: Pre-defined error field
- Object 0x1005: COB-ID SYNC message
- Object 0x1008: Manufacturer device name
- Object 0x1009: Manufacturer hardware version
- Object 0x100A: Manufacturer software version
- Object 0x100B: Node ID
- Object 0x1010: Save parameters
- Object 0x1011: Restore parameters
- Object 0x1012: COB-ID time stamp
- Object 0x1013: High-resolution time stamp
- Object 0x1014: COB-ID emergency object
- Object 0x1016: Consumer heartbeat time
- Object 0x1017: Producer heartbeat time
- Object 0x1018: Identity object
- Object 0x1023: OS command and prompt
- Object 0x1024: OS command mode
- Object 0x1029: Error behavior
- Object 0x1200: SDO server parameter
- Objects 0x1400 - 0x1403: Receive PDO communication parameter
- Objects 0x1800 - 0x1803: Transmit PDO communication parameter
- Objects 0x1A00 - 0x1A03: Transmit PDO mapping
- Chapter 13: Manufacturer-specific Objects
- Object 0x2001: PVT data
- Object 0x2002: PT data
- Object 0x2004: ECAM data
- Object 0x2012: Binary interpreter input
- Object 0x2013: Binary interpreter output
- Object 0x2030: Recorder data
- Object 0x2040: Coordinate system group ID
- Object 0x2041: Amplifier-free running timer
- Object 0x2082: CAN controller status
- Object 0x2090: Firmware download
- Object 0x20A0: Auxiliary position actual value
- Object 0x20A1: Main position error
- Object 0x2200: Digital input
- Object 0x2201: Digital input low byte
- Object 0x2205: Analog Input Object
- Object 0x2F00: User Integer
- Object 0x2F01: User Float Array
- Object 0x2F02: ET Array
- Object 0x2F11: PVT head pointer
- Object 0x2F12: PVT tail pointer
- Object 0x2F15: Profile position remaining points
- Object 0x2F20: PDO events
- Object 0x2F21: Emergency events
- Object 0x2F22: Bus off time out
- Object 0x2F23: Digital input TPDO event parameters
- Object 0x2F30: Last time stamp correction
- Object 0x2F31: Last SYNC time
- Object 0x2F40: Configuration object
- Object 0x2F41: DS402 Configuration object
- Object 0x2F60 – Zero torque threshold
- Object 0x2F70 – CAN Encoder Range
- Chapter 14: Error Control Protocol
- Chapter 15: Downloading Firmware
- Chapter 16: Initial CAN Communication Setup