BEI Sensors THK5 - Manual (Page 15)

POSI+ CANOPEN USER MANUAL
Version 1.02 Page 15
BEI IDEACOD SAS
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Mail : [email protected]
Web : www.bei-ideacod.com
1011
1
RestoreAllDefaultParameters U32 RW 00000001h ="daol" (0x64616F6C) to load
1014
0
COB-ID EMCY U32 RO 00000081h
COB ID of the emergency object
80h + Node ID
1016 Consumer Heartbeat Time
1016
0
Number of entries U8 RO 01h
1016
1
Consumer Heartbeat Time 1 U32 RW 00000000h Yes
Bit0..15 Consumer heartbeat in ms
Bit16..23 Node-ID
1017
0
Producer HeartBeat Time U16 RW 0000h Yes Producer heartbeat time in ms
1018 Identity Object
1018
0
LargestSupportedSubindex U8 RO 04h
1018
1
Vendor ID U32 RO 00000184h Vendor no. issued by CiA
1018
2
Product code U32 RO 354D4850h
1018
3
Revision number U32 RO 00010000h Current revision number
1018
4
Serial number U32 RO xxxxxxxxh Unique consecutive serial number
1200 Server SDO Parameter 0
1200
0
Number of entries U8 RO 02h
1200
1
COB-ID Client -> Server U32 RO 00000601h 600h+Node ID
1200
2
COB-ID Server -> Client U32 RO 00000581h 580h+Node ID
1800
Transmit PDO1
Communication Parameter
1800
0
NrOfEntries U8 RO 05h
1800
1
COB-ID U32 RW 00000181h Yes PDO ID = 180h + node ID
1800
2
TransmissionType U8 RW FEh Yes FEh=User defined, cyclical
1800
3
InhibitTime U16 RW 0000h Yes
minimum interval for PDO
transmission
multiple of 100µs.
1800
5
Event Timer U16 RW 0000h Yes Cycle time in ms
1801
Transmit PDO2
Communication Parameter
1801
0
NrOfEntries U8 RO 05h
1801
1
COB-ID U32 RW 00000281h Yes PDO ID = 280h + node ID