Baumer GK473 - Manual (Page 17)

Manual_GK473_CANopen_EN.doc 17/24 Baumer IVO GmbH & Co. KG
04.05.11 Villingen-Schwenningen, Germany
5.7. CANopen Object directory
Overview on gateway objects
According to CiA (CAN in Automation) the objects are subdivided into three groups:
• Standard objects:
1000h, 1001h, 1018h
• Manufacturer-specific objects:
2000h - 5FFFh
• Device-specific objects:
All remaining objects from 1000h - 1FFFh, 6000h - FFFFh
The following chart is a summary of all SDO objects supported by the gateway.
Objekt
object number in Hex
Name ---
Format
U/I = Unsigned/Integer, Figure = number Bit, ARR = Array, REC = Record
Zugriff ro = ReadOnly, wo = WriteOnly, rw = ReadWrite
Default
Default at first init or restore default
Significance supplementary description
Object
Sub-Index
Name Format Access Default Significance
1000h Device Type U32 ro 00000000h Gateway not standardized and not conform to
any CiA Device Profile.
GK473 provides connection between
CANopen Master to the RS485 devices of the
IVO Multicon product family.
1001h Error Register U8 ro 0h Bit0 = Generic error
Bit4 = Communication error (overrun, …)
Bit7 = Manufacturer-specific
1005h Sync COB-ID U32 rw 80h COB-ID of Sync object
1008h DeviceName U32 ro GK473 Gateway CANopen for the IVO Multicon
product family
1009h Hardware Version U32 ro device-specific Product Hardware Version in ASCII
100Ah Software Version U32 ro device-specific Product Software Version in ASCII
1017h Producer Heartbeat
Time
U16 rw 0h Producer Heartbeat time in ms
1018h Identity Object REC ro
00h Maximum Subindex U8 ro 4h
01h VendoID U32 ro ECh IVO Vendor ID designated by CiA
02h Product Code U32 ro 2Dh Product Code
03h Revision Number U32 ro Manufacturer-
specific
Product revision number
04h Serial Number U32 ro 0