E6581692
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4. Communication Object
Object Dictionary has mainly 3 object set.
･Communication Profile Area (Index 1000 to 1FFFh)
･Manufacturer Specific Profile Area (Index 2000 to 5FFFh)
･Standard Device Profile Area (Index 6000 to 9FFFh)
4.1. Communication Profile (DS 301)
4.1.1. Communication Profile (1000 to 11FFh)
These object are CANopen communication configuration settings for example Node-ID etc.. These
communication profile object can not be mapped into PDO.
Index
(Hex)
Sub
index
Access Type Default value Description
1000 00 RO u32 0x00010192
Device type
Bits 24-31 not used (0), Bits 16-23 = Type of device (1)
Bits 0-15 = Device profile number (402)
1001 00 RO u8 0x00
Error register : Error (= 1) or no error (= 0)
Bit0: Generic
Bit4: Communication
Bit1: Current
Bit5: Device profile specific
Bit2: Voltage
Bit6: reserved(=0)
Bit3: Temperature
Bit7: Manufacturer specific
1003
00 RO u8 0x01
Number of errors: Only one possible error (1), located in
object #1003 sub 01
01 RO u32 0x00000000
Standard error field:
Bits 16-31 = Additional information (always 0)
Bits 00-15 = Error code parameter
1005 00 R/W u32 0x00000080
COB-ID entry for SYNC message
Bit 30=0: Device does not generate SYNC message. (Fixed)
Bit 29=0: 11bit CAN-ID valid. (Fixed)
Bit 0-10: 11bit SYNC COB-ID
1008 00 RO string VF-MB1 Manufacturer device name
100A 00 RO string 1.00
Manufacturer software version
Application software version
VF-MB1: parameter fe08
100C 00 R/W u16 0x0000
Guard Time:
By default, the Node Guarding protocol is deactivated (0); the
unit for this object is 1 ms.
If use this protocol (Guard Time > 0), make sure that the
Heartbeat protocol is deactivated on the drive
(Object 1017: Producer Heartbeat Time > 0).
When not receive the Remote frame message in term of this,
the drive generate the Network disconnect error.
100D 00 R/W u8 0x00
Life Time Factor:
Multiplier coefficient applied to the Guard Time to obtain the
Life Time.
The value 0 deactivates the Node Guarding service in respect
of the drive.
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