Serial Gateway CANopen v1.0A - INC , LLC Gateway CANopen...The data received on the serial port is...

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CANopenSerial Gateway

Software Specifications

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Revision Description Date0.1A Initial Specification 10/21/20031.0A First Release 01/20/2004

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Table of ContentsRevision.......................................................................................................................................................... 2Table of Contents.......................................................................................................................................... 3Overview: ...................................................................................................................................................... 5Physical.......................................................................................................................................................... 6

Network Switch Settings: ........................................................................................................................... 6Bit Timing Settings................................................................................................................................. 6

LED Indicators: .......................................................................................................................................... 6Supported SDO abort codes ................................................................................................................... 8Supported Emergency Error Codes ........................................................................................................ 9Emergency Object Data........................................................................................................................ 10

Pre-defined connection set ....................................................................................................................... 11Identifier allocation scheme for the pre-defined connection set ........................................................... 11

Broadcast Objects of the Pre-defined Connection Set ...................................................................... 11Peer-to-Peer Objects of the Pre-defined Connection Set .................................................................. 11Assigning COB-IDS......................................................................................................................... 11

Object Dictionary Data Types .................................................................................................................. 12Object Dictionary Structure...................................................................................................................... 13Object Dictionary Overview..................................................................................................................... 14

Object Dictionary Entries for Communication..................................................................................... 14Standard Objects............................................................................................................................... 14

Server SDO Parameter.......................................................................................................................... 14Client SDO Parameter .......................................................................................................................... 14Receive PDO Communication Parameter............................................................................................. 15Receive PDO Mapping Parameter........................................................................................................ 15Transmit PDO Communication Parameter ........................................................................................... 15Transmit PDO Mapping Parameter ...................................................................................................... 15

Detailed Specification of Communication Profile Specific Objects......................................................... 16Object 1000h: Device Type.................................................................................................................. 16Object 1001h: Error Register................................................................................................................ 17Object 1002h: Manufacturer Status Register........................................................................................ 18Object 1003h: Pre-defined Error Field ................................................................................................. 19Object 1005h: COB-ID SYNC message............................................................................................... 20Object 1008h: Manufacturer Device Name .......................................................................................... 21Object 1009h: Manufacturer Hardware Version .................................................................................. 22Object 100Ah: Manufacturer Software Version................................................................................... 23Object 100Ch: Guard Time .................................................................................................................. 24Object 100Dh: Life Time Factor .......................................................................................................... 25Object 1010h: Store parameters............................................................................................................ 26Object 1011h: Restore default parameters............................................................................................ 29Object 1012h: COB-ID Time Stamp Object......................................................................................... 31Object 1014h: COB-ID Emergency Object .......................................................................................... 32Object 1015h: Inhibit Time EMCY...................................................................................................... 34Object 1016h: Consumer Heartbeat Time ............................................................................................ 35Object 1017h: Producer Heartbeat Time .............................................................................................. 36Object 1018h: Identity Object .............................................................................................................. 37Object 1020h: Verify Configuration..................................................................................................... 39Object 1029: Error behavior object .................................................................................................... 40Object 1200h-1201h: Server SDO Parameter....................................................................................... 41Object 1400h – 141Eh: Receive PDO Communication Parameter....................................................... 43Object 1600h – 161Eh: Receive PDO Mapping Parameter.................................................................. 47Object 1800h – 1803h: Transmit PDO Communication Parameter...................................................... 49

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Object 1A00h – 1A1Fh: Transmit PDO Mapping Parameter............................................................... 51Multiplexed PDOs.................................................................................................................................... 52

MPDO Protocol .................................................................................................................................... 52Destination Address Mode (DAM) ...................................................................................................... 52Source Address Mode (SAM) .............................................................................................................. 52Object dictionary entries....................................................................................................................... 53

PDO Mapping Record ...................................................................................................................... 53Additional error code meanings ............................................................................................................... 54Predefinitions............................................................................................................................................ 54

Introduction ...................................................................................................................................... 54PDO Mapping........................................................................................................................................... 55

6.2.1 1st RPDO mapping (Memory Access) ........................................................................................ 556.2.2 1st TPDO mapping (Memory Access)......................................................................................... 55

Manufacturer Specific Objects.................................................................................................................. 56Overview: ................................................................................................................................................. 56

Serial Objects ....................................................................................................................................... 56Serial Configuration Objects ................................................................................................................ 56CANopen Objects................................................................................................................................. 56

Manufacturer Specific Object Details: ..................................................................................................... 57Serial Objects ........................................................................................................................................... 57

Object 2000h: Serial Transmit Data ..................................................................................................... 57Object 2001h: Serial Receive Data....................................................................................................... 58Object 2002h: Serial Request Fragment ............................................................................................... 59Object 2003h: Serial Response Fragment............................................................................................. 61Object 2004h: Serial Control Byte ....................................................................................................... 63Object 2005h: Serial Status Byte.......................................................................................................... 64

Serial Configuration Objects .................................................................................................................... 65Object 2100h: Serial Mode................................................................................................................... 65Object 2101h: Serial Flow Control....................................................................................................... 66Object 2102h: Serial Baud.................................................................................................................... 67Object 2103h: Serial Data Width.......................................................................................................... 68Object 2104h: Serial Stop Bits ............................................................................................................. 69Object 2105h: Serial Parity................................................................................................................... 70Object 2106h: Serial Char Delay.......................................................................................................... 71Object 2107h: Serial Start String.......................................................................................................... 72Object 2108h: Serial Error String ......................................................................................................... 73

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Overview:The CANopen serial gateway is a bridge between a CANopen network and serial ports. Thegateway has two serial ports that can be selected at purchase time. The supported serial types areRS232, RS485, and CAN. Other protocols such as Modbus, J1939, and J1708/1587 are availablein different models (see vehicle gateway). The serial gateway can be operated in a passive mode,where the user sends the number of bytes and the raw data to transmit and the device transmits theinformation to the serial port. The data received on the serial port is converted to the networkprotocol and the number of byes and raw data received are available on the network. A secondmode is also supported in which the gateway can be configured by the user to send and receiveformatted messages. This allows the conversion to be accomplished in the gateway instead of inthe controller. The serial data can be transferred using SDOs or PDOs. There are 4 Tx PDOS and 4Rx PDOS supported.

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PhysicalNetwork Switch Settings:SW1 and SW2Node ID Meaning0x00 Re-Configure Module (Does Not got Online)0x01-0x7F Use this Node Address0x80-0xFF Use value stored in NV

SW3Baud Rate Meaning0x0 Auto-Baud0x1 10k bps0x2 20k bps0x3 50k bps0x4 125k bps0x5 250k bps0x6 500k bps0x7 800k bps0x8 1M bps0x9-0xF Use value stored in NV

Bit Timing SettingsBit rate Buslength (1)

Nominal bit timetb

Number of timequanta per bit

Length of timequantum tq

Location ofsample point

1 Mbit/s25 m

1 us 8 125 ns 6 tq(750 ns)

800 kbit/s 50 m

1,25 us 10 125 ns 8 tq(1 us)

500 kbit/s100 m

2 us 16 125 ns 14 tq(1,75 us)

250 kbit/s 250 m(2)

4 us 16 250 ns 14 tq(3,5 us)

125 kbit/s 500 m(2)

8 us 16 500 ns 14 tq(7 us)

50 kbit/s1000 m(3)

20 us 16 1,25 us 14 tq(17,5 us)

20 kbit/s2500 m(3)

50 us 16 3,125 us 14 tq(43,75 us)

10 kbit/s5000 m(3)

100 us 16 6,25 us 14 tq(87,5 us)

LED Indicators:Two LEDs are used to indicate the status of the module, these are the CAN and MOD leds.

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There are two additional LEDs for each serial port, one for the transmit status and one for the receivestatus. The LED is green when transmitting or receiving. The LED is red when there is an error such as anoverflow or parity error. It may be possible to have an amber color when the port has an error and istransmitting or receiving.

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Supported Codes

Supported SDO abort codesAbort code Description0503 0000h Toggle bit not alternated.0504 0000h SDO protocol timed out.0504 0001h Client/server command specifier not valid or unknown.0504 0002h Invalid block size (block mode only).0504 0003h Invalid sequence number (block mode only).0504 0004h CRC error (block mode only).0504 0005h Out of memory.0601 0000h Unsupported access to an object.0601 0001h Attempt to read a write only object.0601 0002h Attempt to write a read only object.0602 0000h Object does not exist in the object dictionary.0604 0041h Object cannot be mapped to the PDO.0604 0042h The number and length of the objects to be mapped would exceed PDO

length.0604 0043h General parameter incompatibility reason.0604 0047h General internal incompatibility in the device.0606 0000h Access failed due to an hardware error.0607 0010h Data type does not match, length of service parameter does not match0607 0012h Data type does not match, length of service parameter too high0607 0013h Data type does not match, length of service parameter too low0609 0011h Sub-index does not exist.The abort codes not listed here are reserved.

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Supported Emergency Error CodesError Code(hex)

Meaning

00xx Error Reset or No Error10xx Generic Error81xx Communication8110 CAN Overrun (Objects lost)8120 CAN in Error Passive Mode8130 Life Guard Error or Heartbeat Error8140 Recovered from bus off8150 Transmit COB-ID82xx Protocol Error8210 PDO not processed due to length error8220 PDO length exceededFFxx Device specific

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Emergency Object DataThe Emergency Telegram consists of 8 bytes with the data as shown in

Emergency Object

Byte 0 1 2 3 4 5 6 7Content Emergency Error

Code(see Table)

Errorregister(Object1001H)

TBD TBD TBD

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Pre-defined connection setBit Number: COB-Identifier

10 9 8 7 6 5 4 3 2 1 0Function Code Node-ID

Identifier allocation scheme for the pre-definedconnection setBroadcast Objects of the Pre-defined Connection SetObject function

code(binary)resulting COB-ID Communication

Parameters at IndexNMT 0000 0 -SYNC 0001 128 (80h) 1005h,1006h,1007hTIME STAMP 0010 256 (100h) 1012h, 1013h

Peer-to-Peer Objects of the Pre-defined Connection Setobject function

code(binary)

Resulting COB-IDs CommunicationParameters at Index

EMERGENCY 0001 129 (81h) - 255 (FFh) 1014h, 1015hPDO1 (tx) 0011 385 (181h) - 511 (1FFh) 1800hPDO1 (rx) 0100 513 (201h) - 639 (27Fh) 1400hPDO2 (tx) 0101 641 (281h) - 767 (2FFh) 1801hPDO2 (rx) 0110 769 (301h) - 895 (37Fh) 1401hPDO3 (tx) 0111 897 (381h) - 1023 (3FFh) 1802hPDO3 (rx) 1000 1025 (401h) - 1151 (47Fh) 1402hPDO4 (tx) 1001 1153 (481h) - 1279 (4FFh) 1803hPDO4 (rx) 1010 1281 (501h) - 1407 (57Fh) 1403hSDO (tx) 1011 1409 (581h) - 1535 (5FFh) 1200hSDO (rx) 1100 1537 (601h) - 1663 (67Fh) 1200hNMT Error Control 1110 1793 (701h) - 1919 (77Fh) 1016h, 1017hSeen from the device’s point of view.The pre-defined connection set always applies to the standard CAN frame with 11-bit Identifier,even if extended CAN frames are present in the network.

Assigning COB-IDS

When Assigning COB-Ids to SDO and PDO objects, the user should use care. If the user selects a COB-IDfor a PDO that is already assigned to the display’s SDO by the pre-defined connection set, theRTC/Memory Module will accept the COB-ID, but the module may not function as the user desires. TheCOB-ID acceptance is done in order to provide greater flexibility for the advanced user.

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Object Dictionary Data TypesIndex Object Name0001 DEFTYPE BOOLEAN0002 DEFTYPE INTEGER80003 DEFTYPE INTEGER160004 DEFTYPE INTEGER320005 DEFTYPE UNSIGNED80006 DEFTYPE UNSIGNED160007 DEFTYPE UNSIGNED320008 DEFTYPE REAL320009 DEFTYPE VISIBLE_STRING000A DEFTYPE OCTET_STRING000B DEFTYPE UNICODE_STRING000C DEFTYPE TIME_OF_DAY000D DEFTYPE TIME_DIFFERENCE000E reserved -000F DEFTYPE DOMAIN0010 DEFTYPE INTEGER240011 DEFTYPE REAL640012 DEFTYPE INTEGER400013 DEFTYPE INTEGER480014 DEFTYPE INTEGER560015 DEFTYPE INTEGER640016 DEFTYPE UNSIGNED240017 reserved -0018 DEFTYPE UNSIGNED400019 DEFTYPE UNSIGNED48001A DEFTYPE UNSIGNED56001B DEFTYPE UNSIGNED64001C-001F reserved -0020 DEFSTRUCT PDO_COMMUNICATION_PARAMETER0021 DEFSTRUCT PDO_MAPPING0022 DEFSTRUCT SDO_PARAMETER0023 DEFSTRUCT IDENTITY0024-003F reserved -0040-005F DEFSTRUCT Manufacturer Specific Complex Data Types0060-007F DEFTYPE Device Profile (0) Specific Standard Data Types0080-009F DEFSTRUCT Device Profile (0) Specific Complex Data Types00A0-00BF DEFTYPE Device Profile 1 Specific Standard Data Types00C0-00DF DEFSTRUCT Device Profile 1 Specific Complex Data Types00E0-00FF DEFTYPE Device Profile 2 Specific Standard Data Types0100-011F DEFSTRUCT Device Profile 2 Specific Complex Data Types0120-013F DEFTYPE Device Profile 3 Specific Standard Data Types0140-015F DEFSTRUCT Device Profile 3 Specific Complex Data Types0160-017F DEFTYPE Device Profile 4 Specific Standard Data Types0180-019F DEFSTRUCT Device Profile 4 Specific Complex Data Types01A0-01BF DEFTYPE Device Profile 5 Specific Standard Data Types01C0-01DF DEFSTRUCT Device Profile 5 Specific Complex Data Types01E0-01FF DEFTYPE Device Profile 6 Specific Standard Data Types0200-021F DEFSTRUCT Device Profile 6 Specific Complex Data Types0220-023F DEFTYPE Device Profile 7 Specific Standard Data Types0240-025F DEFSTRUCT Device Profile 7 Specific Complex Data Types

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Object Dictionary StructureIndex (hex) Object0000 not used0001-001F Static Data Types0020-003F Complex Data Types0040-005F Manufacturer Specific Complex Data Types0060-007F Device Profile Specific Static Data Types0080-009F Device Profile Specific Complex Data Types00A0-0FFF Reserved for further use1000-1FFF Communication Profile Area2000-5FFF Manufacturer Specific Profile Area6000-9FFF Standardized Device Profile AreaA000-FFFF Reserved for further use

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Object Dictionary OverviewObject Dictionary Entries for CommunicationStandard ObjectsIndex(hex) Object

(Symbolic Name)Name Type Acc.

1M/O

1000 VAR device type UNSIGNED32 ro M1001 VAR error register UNSIGNED8 ro M1002 VAR Manufacturer status register UNSIGNED32 ro O1003 VAR Pre-defined error field UNSIGNED32 Ro O1005 VAR COB-ID SYNC UNSIGNED32 rw O1008 VAR Manufacturer device name Vis-String const O1009 VAR Manufacturer hardware version Vis-String const O100A VAR Manufacturer software version Vis-String const O100C VAR guard time UNSIGNED16 rw O100D VAR life time factor UNSIGNED8 rw O1010 ARRAY store parameters UNSIGNED32 rw O1011 ARRAY restore default parameters UNSIGNED32 rw O1012 VAR COB-ID TIME UNSIGNED32 rw O1014 VAR COB-ID EMCY UNSIGNED32 rw O1015 VAR Inhibit Time EMCY UNSIGNED16 rw O1016 ARRAY Consumer heartbeat time UNSIGNED32 RW O1017 VAR Producer heartbeat time UNSIGNED16 rw O1018 RECORD Identity Object Identity (23h) ro M1020 ARRAY Verify Configuration UNSIGNED32 rw O1029 ARRAY Error Behavior UNSIGNED8 rw O

Server SDO Parameter1200 RECORD 1st Server SDO parameter SDO Parameter (22h) ro O1201 RECORD 2st Server SDO parameter SDO Parameter (22h) rw O

Client SDO ParameterNot Supported

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Receive PDO Communication Parameter1400 RECORD 1st receive PDO Parameter PDO CommPar (20h) rw M/O*1401 RECORD 2nd receive PDO Parameter PDO CommPar (20h) rw M/O*::::: ::::: ::::: ::::: ::::: :::::1403 RECORD 4th receive PDO Parameter PDO CommPar (20h) rw M/O*

Receive PDO Mapping Parameter1600 RECORD 1st receive PDO mapping PDO Mapping (21h) rw M/O*1601 RECORD 2nd receive PDO mapping PDO Mapping (21h) rw M/O*::::: ::::: ::::: ::::: ::::: :::::1603 RECORD 4th receive PDO mapping PDO Mapping (21h) rw M/O*

Transmit PDO Communication Parameter1800 RECORD 1st transmit PDO Parameter PDO CommPar (20h) rw M/O*1801 RECORD 2nd transmit PDO Parameter PDO CommPar (20h) rw M/O*::::: ::::: ::::: ::::: ::::: ::::1803 RECORD 4th transmit PDO

ParameterPDO CommPar (20h) rw M/O*

Transmit PDO Mapping Parameter1A00 RECORD 1st transmit PDO mapping PDO Mapping (21h) rw M/O*1A01 RECORD 2nd transmit PDO mapping PDO Mapping (21h) rw M/O*::::: ::::: ::::: ::::: ::::: :::::1A03 RECORD 4th transmit PDO mapping PDO Mapping (21h) rw M/O*

Ranges 1600-1603h and 1A00-1A03h can also used to map multiplexed PDOs. See specification below.

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Detailed Specification of CommunicationProfile Specific ObjectsObject 1000h: Device TypeContains information about the device type. The object at index 1000h describes the type ofdevice and its functionality. It is composed of a 16-bit field which describes the device profile thatis used and a second 16-bit field which gives additional information about optional functionality ofthe device. The Additional Information parameter is device profile specific.

OBJECT DESCRIPTIONINDEX 1000hName device typeObject Code VARData Type UNSIGNED32Category Mandatory

ENTRY DESCRIPTIONAccess RoPDO Mapping NoValue Range UNSIGNED32Default Value No

Byte:MSB LSBAdditional Information Device Profile Number

0x0000 0x0000

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Object 1001h: Error RegisterThis object is an error register for the device. The device can map internal errors in this byte. Thisentry is mandatory for all devices. It is a part of an Emergency object.

OBJECT DESCRIPTIONINDEX 1001hName error registerObject Code VARData Type UNSIGNED8Category Mandatory

ENTRY DESCRIPTIONAccess roPDO Mapping OptionalValue Range UNSIGNED8Default Value No

Structure of the Error RegisterBit M/O Supported Meaning0 M Yes generic error1 O No Current2 O Yes Voltage3 O No Temperature4 O Yes communication error (overrun, error state)5 O No device profile specific6 O No Reserved (always 0)7 O Yes manufacturer specific

If a bit is set to 1 the specified error has occurred. The generic error is signaled at any errorsituation.

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Object 1002h: Manufacturer Status RegisterThis object is a common status register for manufacturer specific purposes. In this document onlythe size and the location of this object is defined.

OBJECT DESCRIPTIONINDEX 1002hName manufacturer status registerObject Code VARData Type UNSIGNED32Category Optional

ENTRY DESCRIPTIONAccess roPDO Mapping NoValue Range UNSIGNED32Default Value No

MSB LSB

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Object 1003h: Pre-defined Error FieldThe object at index 1003h holds the errors that have occurred on the device and have beensignaled via the Emergency Object. In doing so it provides an error history.1. The entry at sub-index 0 contains the number of actual errors that are recorded in the arraystarting at sub-index 1.2. Every new error is stored at sub-index 1, the older ones move down the list.3. Writing a “0” to sub-index 0 deletes the entire error history (empties the array). Values higherthan 0 are not allowed to write. This have to lead to an abort message (error code: 0609 0030h).4. The error numbers are of type UNSIGNED32 (see Table 7-18) and are composed of a 16 biterror code and a 16 bit additional error information field which is manufacturer specific. The errorcode is contained in the lower 2 bytes (LSB) and the additional information is included in theupper 2 bytes (MSB). The additional information consists of the information contained in the Errorregister Object (1001h) The length entry on sub-index 0h and at least one error entry at sub-index1H.

Byte: MSB LSBAdditional Information Error code Structure of the pre-defined error field

OBJECT DESCRIPTIONINDEX 1003hName pre-defined error fieldObject Code ARRAYData Type UNSIGNED32Category Optional

ENTRY DESCRIPTIONSub-Index 0hDescription number of errorsEntry Category MandatoryAccess rwPDO Mapping NoValue Range 0 - 10Default Value 0

Sub-Index 1hDescription standard error fieldEntry Category OptionalAccess roPDO Mapping NoValue Range UNSIGNED32Default Value No

Sub-Index 2h – 10Description standard error fieldEntry Category OptionalAccess roPDO Mapping NoValue Range UNSIGNED32Default Value No

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Object 1005h: COB-ID SYNC messageIndex 1005h defines the COB-ID of the Synchronization Object (SYNC). Further, it defineswhether the device generates the SYNC.

UNSIGNED32MSB LSBbits 31 30 29 28-11 10-011-bit-ID X 0/1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 11-bit Identifier29-bit-ID X 0/1 1 29 -bit Identifier Structure of SYNC COB-ID entry

Description of SYNC COB-ID entrybit number value meaning31 (MSB) X do not care30 0

1Device does not generate SYNC messageDevice generates SYNC message

29 01

11-bit ID (CAN 2.0A)29-bit ID (CAN 2.0B)

28 – 11 0 X if bit 29=0 if bit 29=1: bits 28-11 of 29-bit-SYNC-COB-ID

10-0 (LSB) X bits 10-0 of SYNC-COB-ID

Bits 29, 30 may be static (not changeable). If a device is not able to generate SYNC messages,an attempt to set bit 30 is responded with an abort message (abort code: 0609 0030h). Devicessupporting the standard CAN frame type only either ignore attempts to change bit 29 or respondwith an abort message (abort code: 0609 0030h). The first transmission of SYNC object startswithin 1 sync cycle after setting Bit 30 to 1. It is not allowed to change Bit 0-29, while the objectsexist (Bit 30=1).

OBJECT DESCRIPTIONINDEX 1005hName COB-ID SYNCObject Code VARData Type UNSIGNED32Category Conditional;Mandatory, if PDO communication

on a synchronous base is supported

ENTRY DESCRIPTIONAccess RwPDO Mapping NoValue Range UNSIGNED32Default Value 80h or 8000 0080h

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Object 1008h: Manufacturer Device NameContains the manufacturer device name.

OBJECT DESCRIPTIONINDEX 1008hName manufacturer device nameObject Code VARData Type Visible StringCategory Optional

ENTRY DESCRIPTIONAccess constPDO Mapping NoValue Range NoDefault Value Serial Gateway

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Object 1009h: Manufacturer Hardware VersionContains the manufacturer hardware version description.

OBJECT DESCRIPTIONINDEX 1009hName manufacturer hardware versionObject Code VARData Type Visible StringCategory Optional

ENTRY DESCRIPTIONAccess constPDO Mapping NoValue Range NoDefault Value 01

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Object 100Ah: Manufacturer Software VersionContains the manufacturer software version description.

OBJECT DESCRIPTIONINDEX 100AhName Manufacturer software versionObject Code VARData Type Visible StringCategory Optional

ENTRY DESCRIPTIONAccess ConstPDO Mapping NoValue Range NoDefault Value 1.01

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Object 100Ch: Guard TimeThe objects at index 100Ch and 100Dh include the guard time in milliseconds and the life timefactor.The life time factor multiplied with the guard time gives the life time for the Life Guarding Protocol.It is 0 if not used.

OBJECT DESCRIPTIONINDEX 100ChName guard timeObject Code VARData Type UNSIGNED16Category Conditional;

Mandatory, if heartbeat is not supported

ENTRY DESCRIPTIONAccess rw

PDO Mapping NoValue Range UNSIGNED16Default Value 0

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Object 100Dh: Life Time FactorThe life time factor multiplied with the guard time gives the life time for the node guardingprotocol. It is 0 if not used.

OBJECT DESCRIPTIONINDEX 100DhName life time factorObject Code VARData Type UNSIGNED8Category Conditional;

Mandatory, if heartbeat is not supported

ENTRY DESCRIPTIONAccess RwPDO Mapping NoValue Range UNSIGNED8Default Value 0

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Object 1010h: Store parametersThis object supports the saving of parameters in non volatile memory. By read access the deviceprovides information about its saving capabilities. Several parameter groups are distinguished:Sub-Index 0 contains the largest Sub-Index that is supported.Sub-Index 1 refers to all parameters that can be stored on the device.Sub-Index 2 refers to communication related parameters (Index 1000h - 1FFFh manufacturerspecific communication parameters).Sub-Index 3 refers to application related parameters (Index 6000h - 9FFFh manufacturer specificapplication parameters).At Sub-Index 4 - 127 manufacturers may store their choice of parameters individually.Sub-Index 128 - 254 are reserved for future use.In order to avoid storage of parameters by mistake, storage is only executed when a specificsignatureis written to the appropriate Sub-Index. The signature is “save”.

Signature MSB LSBISO 8859(“ASCII”)hexE V a s65h 76h 61h 73hStorage write access signature

On reception of the correct signature in the appropriate sub-index the device stores theparameter and then confirms the SDO transmission (initiate download response). If the storingfailed, the device responds with an Abort SDO Transfer (abort code: 0606 0000h).If a wrong signature is written, the device refuses to store and responds with Abort SDO Transfer(abort code: 0800 002xh).On read access to the appropriate Sub-Index the device provides information about its storagefunctionality with the following format:

UNSIGNED32MSB LSB31-2 1 0reserved (=0) 0/1 0/1Storage read access structure

Structure of read accessbit number Value meaning31-2 0 reserved (=0)

0 Device does not saveparameters autonomously

1

1 Device saves parametersautonomously

0 Device does not saveparameters on command

0

1 Device saves parameters oncommand

Autonomous saving means that a device stores the storable parameters in a non-volatile mannerwithout user request.

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OBJECT DESCRIPTIONINDEX 1010hName store parametersObject Code ARRAYData Type UNSIGNED32Category Optional

ENTRY DESCRIPTIONSub-Index 0hDescription largest subindex supportedEntry Category MandatoryAccess roPDO Mapping NoValue Range 1h - 7FhDefault Value 4

Sub-Index 1hDescription Save all parametersEntry Category MandatoryAccess RwPDO Mapping NoValue Range UNSIGNED32

(Figure 55 for write access; Figure 56 for readaccess)

Default Value 01h

Sub-Index 2hDescription save communication parametersEntry Category OptionalAccess rwPDO Mapping NoValue Range UNSIGNED32 (Figure 55 for write access;

Figure 56 for read access)Default Value 01h

Sub-Index 3hDescription Save application parametersEntry Category OptionalAccess RwPDO Mapping NoValue Range UNSIGNED32 (Figure 55 for write access;


Sub-Index 4hDescription Save I/O Configuration and Node AddressEntry Category OptionalAccess RwPDO Mapping NoValue Range UNSIGNED32 (Figure 55 for write access;


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Note Application parameters are stored autonomously. Communication parameters must bemanually stored.

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Object 1011h: Restore default parametersWith this object the default values of parameters according to the communication or device profileare restored. By read access the device provides information about its capabilities to restorethese values.Several parameter groups are distinguished:Sub-Index 0 contains the largest Sub-Index that is supported.Sub-Index 1 refers to all parameters that can be restored.Sub-Index 2 refers to communication related parameters (Index 1000h - 1FFFh manufacturerspecific communication parameters).Sub-Index 3 refers to application related parameters (Index 6000h - 9FFFh manufacturer specificapplication parameters).At Sub-Index 4 - 127 manufacturers may restore their individual choice of parameters.Sub-Index 128 - 254 are reserved for future use.In order to avoid the restoring of default parameters by mistake, restoring is only executed whena specific signature is written to the appropriate sub-index. The signature is “load”.

Signature MSB LSBASCIIHexd a o l64h 61h 6Fh 6ChFigure 57: Restoring write access signature

On reception of the correct signature in the appropriate sub-index the device restores the defaultparameters and then confirms the SDO transmission (initiate download response). If the restoringfailed, the device responds with an Abort SDO Transfer (abort code: 0606 0000h). If a wrongsignature is written, the device refuses to restore the defaults and responds with an Abort SDOTransfer (abort code: 0800 002xh).The default values are set valid after the device is reset (reset node for sub-index 1h - 7Fh, resetcommunication for sub-index 2h) or power cycled.On read access to the appropriate sub-index the device provides information about its defaultparameter restoring capability with the following format:UNSIGNED32

MSB LSB31-1 0Reserved (=0) 0/1

Figure 59: Restoring default values read access structure

Table 50: Structure of restore read accessbit number value meaning31-1 0 reserved (=0)

0 Device does not restore default parameters01 Device restores parameters

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OBJECT DESCRIPTIONIndex 1011hName restore default parametersObject Code ARRAYData Type UNSIGNED32Category Optional

ENTRY DESCRIPTIONSub-Index 0hDescription largest subindex supportedEntry Category MandatoryAccess roPDO Mapping NoValue Range 1h- 7FhDefault Value 4

Sub-Index 1hDescription r Restore all default parametersEntry Category MandatoryAccess RwPDO Mapping NoValue Range UNSIGNED32 (Figure 57)Default Value 01h

Sub-Index 2hDescription Restore communication default parametersEntry Category OptionalAccess RwPDO Mapping NoValue Range UNSIGNED32 (Figure 57)Default Value 01h

Sub-Index 3hDescription Restore application default parametersEntry Category OptionalAccess RwPDO Mapping NoValue Range UNSIGNED32 (Figure 57)Default Value 01h

Sub-Index 4hDescription Restore Manufacturer Specific parametersEntry Category OptionalAccess RwPDO Mapping NoValue Range UNSIGNED32 (Figure 57)Default Value 01h

The number and type of physically attached modules control most of the manufacturer specificparameters, therefore Sub-Index 4 is reserved for future use.

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Object 1012h: COB-ID Time Stamp ObjectIndex 1012h defines the COB-ID of the Time-Stamp Object (TIME). Further, it defines whetherthe device consumes the TIME or whether the device generates the TIME. The structure of thisobject is shown in Figure 60 and Table 51.

UNSIGNED32MSB LSBbits 31 30 29 28-11 10-011-bit-ID 0/1 0/1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 11-bit Identifier29-bit-ID 0/1 0/1 1 29 -bit IdentifierFigure 60: Structure of TIME COB-ID entry

Table 51: Description of TIME COB-ID entrybit number value meaning

0 Device does not consume TIME message31 (MSB)1 Device consumes TIME message0 Device does not produce TIME message301 Device produces TIME message0 11-bit ID (CAN 2.0A)291 29-bit ID (CAN 2.0B) 0 if bit 29=028 – 11X if bit 29=1: bits 28-11 of 29-bit-TIME-COB-ID

10-0 (LSB) X bits 10-0 of TIME-COB-ID

Bits 29, 30 may be static (not changeable). If a device is not able to generate TIME messages, anattempt to set bit 30 is responded with an abort message (abort code: 0609 0030h). Devicessupporting the standard CAN frame type only, an attempt to set bit 29 is responded with an abortmessage (abort code: 0609 0030h). It is not allowed to change Bits 0-29, while the object exists(Bit 30=1).

OBJECT DESCRIPTIONINDEX 1012hName COB-ID time stamp messageObject Code VARData Type UNSIGNED32Category Optional

ENTRY DESCRIPTIONAccess rwPDO Mapping NoValue Range UNSIGNED32Default Value 100h

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Object 1014h: COB-ID Emergency ObjectIndex 1014h defines the COB-ID of the Emergency Object (EMCY). The structure of this object isshown in Figure 61.UNSIGNED32MSB LSBBits 31 30 29 28-11 10-011-bit-ID 0/1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 11-bit

Identifier29-bit-ID 0/1 0 1 29 -bit IdentifierFigure 61: Structure of the EMCY Identifier entry

Table 52: Description of EMCY COB-ID entrybit number value Meaning

0 EMCY exists / is valid31 (MSB)1 EMCY does not exist / is not valid

30 0 reserved (always 0) 0 11-bit ID (CAN 2.0A)291 29-bit ID (CAN 2.0B)0 if bit 29=028 - 11X if bit 29=1: bits 28-11 of 29-bit-COB-ID

10-0 (LSB) X bits 10-0 of COB-IDDevices supporting the standard CAN frame type only, an attempt to set bit 29 is responded withan abort message (abort code: 0609 0030h). It is not allowed to change Bits 0-29, while theobject exists (Bit 31=0).

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OBJECT DESCRIPTIONINDEX 1014hName COB-ID Emergency messageObject Code VARData Type UNSIGNED32Category Conditional;Mandatory, if Emergency is

supported

ENTRY DESCRIPTIONAccess ro;optional rwPDO Mapping NoValue Range UNSIGNED32Default Value 80h + Node-ID

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Object 1015h: Inhibit Time EMCYThe inhibit time for the EMCY message can be adjusted via this entry. If this entry exists it mustbe writeable in the object dictionary. The time has to be a multiple of 100ms.

OBJECT DESCRIPTIONINDEX 1015hName Inhibit Time EMCYObject Code VARData Type UNSIGNED16Category Optional

ENTRY DESCRIPTIONAccess rwPDO Mapping NoValue Range UNSIGNED16Default Value 0

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Object 1016h: Consumer Heartbeat TimeThe consumer heartbeat time defines the expected heartbeat cycle time and thus has to behigher than the corresponding producer heartbeat time configured on the device producing thisheartbeat.Monitoring starts after the reception of the first heartbeat. If the consumer heartbeat time is 0 thecorresponding entry is not used. The time has to be a multiple of 1ms.

UNSIGNED32MSB LSBBits 31-24 23-16 15-0Value reserved (value: 00h) Node-ID heartbeat timeEncoded as - UNSIGNED8 UNSIGNED16

Table 62: Structure of Consumer Heartbeat Time entry

At an attempt to configure several consumer heartbeat times unequal 0 for the same Node-ID thedevice aborts the SDO download with abort code 0604 0043h

OBJECT DESCRIPTIONINDEX 1016hName Consumer Heartbeat TimeObject Code ARRAYData Type UNSIGNED32Category Optional

ENTRY DESCRIPTIONSub-Index 0hDescription number entriesEntry Category MandatoryAccess roPDO Mapping NoValue Range 1 - 127Default Value 4

Sub-Index 1hDescription Consumer Heartbeat TimeEntry Category MandatoryAccess rwPDO Mapping NoValue Range UNSIGNED32 (Figure 62)Default Value 0

Sub-Index 2h - 4hDescription Consumer Heartbeat TimeEntry Category OptionalAccess rwPDO Mapping NoValue Range UNSIGNED32 (Figure 62)Default Value No

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Object 1017h: Producer Heartbeat TimeThe producer heartbeat time defines the cycle time of the heartbeat. The producer heartbeat timeis 0 if it not used. The time has to be a multiple of 1ms.

OBJECT DESCRIPTIONINDEX 1017hName Producer Heartbeat TimeObject Code VARData Type UNSIGNED16Category Conditional; Mandatory if guarding not

supported

ENTRY DESCRIPTIONAccess rwPDO Mapping NoValue Range UNSIGNED16Default Value 0

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Object 1018h: Identity ObjectThe object at index 1018h contains general information about the device.The Vendor ID (sub-index 1h) contains a unique value allocated to each manufacturer.The manufacturer-specific Product code (sub-index 2h) identifies a specific device version.The manufacturer-specific Revision number (sub-index 3h) consists of a major revision numberand a minor revision number. The major revision number identifies a specific CANopen behavior.If the CANopen functionality is expanded, the major revision has to be incremented. The minorrevision number identifies different versions with the same CANopen behavior.

31 16 15 0major revision number minor revision numberMSB LSB

Structure of Revision number

The manufacturer-specific Serial number (sub-index 4h) identifies a specific device.

OBJECT DESCRIPTIONINDEX 1018hName Identity ObjectObject Code RECORDData Type IdentityCategory Mandatory

ENTRY DESCRIPTIONSub-Index 0hDescription number of entriesEntry Category MandatoryAccess RoPDO Mapping NoValue Range 1 .. 4Default Value 4

Sub-Index 1hDescription Vendor IDEntry Category MandatoryAccess RoPDO Mapping NoValue Range UNSIGNED32Default Value 0x00000141

Sub-Index 2hDescription Product codeEntry Category OptionalAccess RoPDO Mapping NoValue Range UNSIGNED32Default Value 0x000003E9

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Sub-Index 3hDescription Revision numberEntry Category OptionalAccess RoPDO Mapping NoValue Range UNSIGNED32Default Value 0x00010001

Sub-Index 4hDescription Serial numberEntry Category OptionalAccess RoPDO Mapping NoValue Range UNSIGNED32Default Value No

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Object 1020h: Verify ConfigurationIf a device supports the saving of parameters in non-volatile memory, a network configuration toolor a CANopen manager can use this object to verify the configuration after a devices reset and tocheck if a reconfiguration is necessary. The configuration tool shall store the date and time in thatobject and shall store the same values in the DCF. Now the configuration tool lets the devicesave its configuration by writing to index 1010h Sub-Index 1h the signature "save". After a resetthe device shall restore the last configuration and the signature automatically or by request. If anyother command changes boot-up configuration values, the device shall reset the object VerifyConfiguration to 0.The Configuration Manager compares signature and configuration with the value from the DCFand decides if a reconfiguration is necessary or not.

Index Object Name Type Attr. M/O1020h ARRAY Verify

ConfigurationUnsigned32 rw O

The sub-objects for the Verify Configuration Object are:Index Sub-Index Field in Configuration Verify Data Type

0h Number of supported entries Unsigned81h Configuration date Unsigned32

1020h

2h Configuration time Unsigned32

Configuration date shall contain the number of days since January 1,1984. Configuration timeshall be the number of ms after midnight.

Application hint: The usage of this object allows a significant speed-up of the boot-upprocess. If it is used, the system integrator has to consider that a user may change aconfiguration value and afterwards activate the command store configuration 1010hwithout changing the value of 1020h. So the system integrator has to ensure a 100%consequent usage of this feature.

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Object 1029: Error behavior objectIf a serious device failure is detected in Operational State, the module shall enter by defaultautonomously the pre-operational state. If object 1028h (Error Behavior) is implemented, thedevice can be configured to enter alternatively the stopped state or remain in the current state incase of a device failure. Device failures shall include the following communication errors:• Bus-off conditions of the CAN interface• Life guarding event with the state ‘occurred’• Heartbeat event with state ‘occurred’Serious device errors also can be caused by device internal failures.The value of the Error Classes is as follows:0 = pre-operational (only if current state is operational)1 = no state change2 = stopped3 .. 127 = reserved

OBJECT DESCRIPTIONINDEX 1029hName Error BehaviorObject Code ARRAYData Type UNSIGNED8Category Optional

ENTRY DESCRIPTIONSub-Index 0hDescription No. of Error ClassesEntry Category MandatoryAccess RoPDO Mapping NoValue Range 1hDefault Value 1

Sub-Index 1hDescription Communication ErrorEntry Category MandatoryAccess rwPDO Mapping NoValue Range UNSIGNED8Default Value 0

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Object 1200h-1201h: Server SDO ParameterIn order to describe the SDOs used on a device the data type SDO Parameter is introduced. Thedata type has the index 22h in the Object Dictionary. The structure is described in 9.5.4.The number of supported entries in the SDO object record is specified at sub-index 0h. Thevalues at 1h and 2h specify the COB-ID for this SDO. Sub-index 3 gives the server of the SDO incase the record describes an SDO for which the device is client and gives the client of the SDO ifthe record describes an SDO for which the device is server.

UNSIGNED32MSB LSBbits 31 30 29 28-11 10-011-bit-ID 0/1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 11-bit

Identifier29-bit-ID 0/1 0 1 29-bit IdentifierFigure 64: Structure of SDO COB-ID entry

Table 53: Description of SDO COB-ID entrybit number value Meaning

0 SDO exists / is valid31 (MSB)1 SDO does not exist / is not valid

30 0 reserved (always 0)0 11-bit ID (CAN 2.0A)291 29-bit ID (CAN 2.0B) 0 if bit 29=028 – 11X if bit 29=1: bits 28-11 of 29-bit-COB-

ID10-0 (LSB) X bits 10-0 of COB-IDAn SDO is only valid if both SDO-valid-bits are 0. Devices supporting the standard CAN frametype only, an attempt to set bit 29 is responded with an abort message (abort code:0609E0030h).These objects contain the parameters for the SDOs for which the device is the server. If a devicehandles more than one server SDO the default SDO must be located at index 1200h as the firstserver SDO. This entry is read only 2. All additional server SDOs are invalid by default (invalid bit- see Table 53), there description is located at subsequent indicies. It is not allowed to change theCOB-ID while the SDO exists.The description of the Client of the SDO (sub-index 3h) is optional. It is not available for thedefault SDO (no Sub-index 3h at Index 1200h), as this entry is read only.

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OBJECT DESCRIPTIONINDEX 1200-1201hName Server SDO parameterObject Code RECORDData Type SDO ParameterCategory Conditional

Index 1200h: OptionalIndex 1201h - 127Fh: Mandatory for eachadditionally supported server SDO

ENTRY DESCRIPTIONSub-Index 0hDescription number of entriesEntry Category MandatoryAccess RoPDO Mapping NoValue Range Index 1200h: 2 Index 1201h - 127F: 2 – 3Default Value No

Sub-Index 1hDescription COB-ID Client->Server (rx)Entry Category MandatoryAccess Index 1200h: ro, Index 1201h-127Fh: rwPDO Mapping NoValue Range UNSIGNED32 (Table 53)Default Value Index 1200h: 600h+Node-ID, Index 1201h-

127Fh: No

Sub-Index 2hDescription COB-ID Server -> Client (tx)Entry Category MandatoryAccess Index 1200h: ro Index 1201-127Fh: rwPDO Mapping NoValue Range UNSIGNED32 (Table 53)Default Value Index 1200h: 580h+Node-ID, Index 1201h-

127Fh: No

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Object 1400h – 141Eh: Receive PDO CommunicationParameterContains the communication parameters for the PDOs the device is able to receive. The type ofthe PDO communication parameter (20h) is described in 9.5.4. The sub-index 0h contains thenumber of valid entries within the communication record. Its value is at least 2. If inhibit timesupported the value is 3. At sub-index 1h resides the COB-ID of the PDO. This entry has beendefined as UNSIGNED32 in order to cater for 11-bit CAN Identifiers (CAN 2.0A) as well as for 29-bit CAN identifiers (CAN 2.0B).The entry has to be interpreted as defined in Figure 65 and Table 54.UNSIGNED32MSB LSBbits 31 30 29 28-11 10-011-bit-ID 0/1 0/1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 11-bit Identifier29-bit-ID 0/1 0/1 1 29-bit IdentifierFigure 65: Structure of PDO COB-ID entry

Table 54: Description of PDO COB-ID entrybit number value Meaning

0 PDO exists / is valid31 (MSB)1 PDO does not exist / is not valid0 RTR allowed on this PDO301 no RTR allowed on this PDO0 11-bit ID (CAN 2.0A)291 29-bit ID (CAN 2.0B) 0 if bit 29=028 – 11X if bit 29=1: bits 28-11 of 29-bit-COB-ID

10-0 (LSB) X bits 10-0 of COB-IDThe PDO valid/not valid allows to select which PDOs are used in the operational state. Theremay be PDOs fully configured (e.g. by default) but not used, and therefore set to "not valid"(deleted). The feature is necessary for devices supporting more than 4 RPDOs or 4 TPDOs,because each device has only default identifiers for the first four RPDOs/TPDOs. Devicessupporting the standard CAN frame type only or do not support Remote Frames, an attempt toset bit 29 to 1 or bit 30 to 0 is responded with an abort message (abort code: 0609Ê0030h).It is not allowed to change bit 0-29 while the PDO exists (Bit 31=0).The transmission type (sub-index 2) defines the transmission/reception character of the PDO(see 9.2.1.1). Table 55 describes the usage of this entry. On an attempt to change the value ofthe transmission type to a value that is not supported by the device an abort message (abortcode: 0609E0030h) is generated.

transmission type PDO transmission- Cyclic acyclic synchronous asynchronous RTR only0 - X X - -1-240 X - X - -241-251 -reserved -252 - - X - X253 - - - X X254 - - - X -255 - - - X -

Synchronous (transmission types 0-240 and 252) means that the transmission of the PDO shallbe related to the SYNC object as described in 9.3. Preferably the devices use the SYNC as atrigger to output or actuate based on the previous synchronous Receive PDO respectively to

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update the data transmitted at the following synchronous Transmit PDO. Details of thismechanism depend on the device type and are defined in the device profile if applicable.Asynchronous means that the transmission of the PDO is not related to the SYNC object.A transmission type of zero means that the message shall be transmitted synchronously with theSYNC object but not periodically.A value between 1 and 240 means that the PDO is transferred synchronously and cyclically. Thetransmission type indicating the number of SYNC which are necessary to trigger PDOtransmissions.Receive PDOs are always triggered by the following SYNC upon receiption of data independentof the transmission types 0 - 240.The transmission types 252 and 253 mean that the PDO is only transmitted on remotetransmission request. At transmission type 252, the data is updated (but not sent) immediatelyafter reception of the SYNC object. At transmission type 253 the data is updated at the receptionof the remote transmission request (hardware and software restrictions may apply). These valueare only possible for TPDOs.For TPDOs transmission type 254 means, the application event is manufacturer specific(manufacturer specific part of the Object Dictionary), transmission type 255 means, theapplication event is defined in the device profile. RPDOs with that type trigger the update of themapped data with the reception.Sub-index 3h contains the inhibit time. This time is a minimum interval for PDO transmission. Thevalue is defined as multiple of 100ms. It is not allowed to change the value while the PDO exists(Bit 31 of sub-index 1 is 0).Sub-index 4h is reserved. It does not have to be implemented, in this case read or write accessleads to Abort SDO Transfer (abort code: 0609 0011h).In mode 254/255 additionally an event time can be used for TPDO. If an event timer exists for aTPDO (value not equal to 0) the elapsed timer is considered to be an event. The event timerelapses as multiple of 1 ms of the entry in sub-index 5h of the TPDO. This event will cause thetransmission of this TPDO in addition to otherwise defined events. The occurence of the eventsset the timer. Independent of the transmission type the RPDO event timer is used recognize theexpiration of the RPDO.

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OBJECT DESCRIPTIONINDEX 1400h – 141FhName receive PDO parameterObject Code RECORDData Type PDO CommParCategory Conditional; Mandatory for each supported

PDO

ENTRY DESCRIPTIONSub-Index 0hDescription largest sub-index supportedEntry Category MandatoryAccess roPDO Mapping NoValue Range 2 – 5

Sub-Index 1hDescription COB-ID used by PDOEntry Category MandatoryAccess ro; rw if variable COB-ID is supportedPDO Mapping NoValue Range UNSIGNED32 (Table 54)Default Value Index 1400h: 200h + Node-ID, Index 1401h:

300h + Node-ID, Index 1402h: 400h + Node-ID, Index 1403h: 500h + Node-ID, Index 1404hÐ 15FFh: disabled

Sub-Index 2hDescription transmission typeEntry Category MandatoryAccess ro;rw if variable transmission type is supportedPDO Mapping NoValue Range UNSIGNED8 (Table 55)Default Value (Device Profile dependent)

Sub-Index 3hDescription inhibit time (not used for RPDO)Entry Category OptionalAccess rwPDO Mapping NoValue Range UNSIGNED16Default Value No

Sub-Index 4hDescription compatibility entryEntry Category OptionalAccess rwPDO Mapping NoValue Range UNSIGNED8Default Value No

Sub-Index 5hDescription event timer

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Entry Category Optional (not used for RPDO)Access rwPDO Mapping NoValue Range 0 = not used UNSIGNED16Default Value No

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Object 1600h – 161Eh: Receive PDO Mapping ParameterContains the mapping for the PDOs the device is able to receive. The type of the PDO mappingparameter (21h) is described in 9.5.4. The sub-index 0h contains the number of valid entrieswithin the mapping record. This number of entries is also the number of the application variableswhich shall be transmitted/received with the corresponding PDO. The sub-indices from 1h tonumber of entries contain the information about the mapped application variables. These entriesdescribe the PDO contents by their index, sub-index and length (Figure 66). All three values arehexadecimal coded. The length entry contains the length of the object in bit (1..40h). Thisparameter can be used to verify the overall mapping length. It is mandatory.

The structure of the entries from sub-index 1h - 40h is as follows:Byte: MSB LSBindex (16 bit) sub-index (8 bit) object length (8 bit)Figure 66: Structure of PDO Mapping Entry

If the change of the PDO mapping cannot be executed (e.g. the PDO length is exceeded or theSDO client attempts to map an object that cannot be mapped) the device responds with an AbortSDO Transfer Service.Subindex 0 determines the valid number of objects that have been mapped. For changing thePDO mapping first the PDO has to be deleted, the sub-index 0 must be set to 0 (mapping isdeactivated). Then the objects can be remapped. When a new object is mapped by writing asubindex between 1 and 64, the device may check whether the object specified by index / sub-index exists. If the object does not exist or the object cannot be mapped, the SDO transfer mustbe aborted with the Abort SDO Transfer Service with one of the abort codes 0602 0000h or 06040041h. After all objects are mapped subindex 0 is set to the valid number of mapped objects.Finally the PDO will be created by writing to its communication parameter COB-ID. Whensubindex 0 is set to a value >0 the device may validate the new PDO mapping before transmittingthe response of the SDO service. If an error is detected the device has to transmit the Abort SDOTransfer Service with one of the abort codes 0602 0000h, 0604 0041h or 0604 0042h.When subindex 0 is read the actual number of valid mapped objects is returned.If data types (Index 1h-7h) are mapped they serve as “dummy entries”. The corresponding data inthe PDO is not evaluated by the device. This optional feature is useful e.g. to transmit data toseveral devices using one PDO, each device only utilizing a part of the PDO. It is not possible tocreate a dummy mapping for a TPDO.

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OBJECT DESCRIPTIONINDEX 1600h – 161FhName receive PDO mappingObject Code RECORDData Type PDO MappingCategory Conditional; Mandatory for each supported

PDO

ENTRY DESCRIPTIONSub-Index 0hDescription number of mapped application objects in PDOEntry Category MandatoryAccess ro; rw if dynamic mapping is supportedPDO Mapping NoValue Range 0: deactivated 1 - 64: activatedDefault Value (device profile dependent)

Sub-Index 1h - 40hDescription PDO mapping for the nth application object to

be mappedEntry Category Conditional depends on number and size of

object be mappedAccess rwPDO Mapping NoValue Range UNSIGNED32Default Value (device profile dependent)

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Object 1800h – 1803h: Transmit PDO CommunicationParameterContains the communication parameters for the PDOs the device is able to transmit. The type ofthe PDO communication parameter (20h) is described in 9.5.4. A detailed description of theentries is done in the section for the Receive PDO Communication Parameter (1400h – 141Fh).

OBJECT DESCRIPTIONINDEX 1800h – 181FhName transmit PDO parameterObject Code RECORDData Type PDO CommParCategory Conditional; Mandatory for each supported

PDO

ENTRY DESCRIPTIONSub-Index 0hDescription largest sub-index supportedEntry Category MandatoryAccess roPDO Mapping NoValue Range 2 – 5

Sub-Index 1hDescription COB-ID used by PDOEntry Category MandatoryAccess ro; rw if COB-ID can be configuredPDO Mapping NoValue Range UNSIGNED32 (Figure 65)Default Value Index 1800h: 180h + Node-ID, Index 1801h:

280h + Node-ID, Index 1802h: 380h + Node-ID, Index 1803h: 480h + Node-ID, Index 1804h- 18FFh: disabled

Sub-Index 2hDescription transmission typeEntry Category MandatoryAccess ro; rw if transmission type can be changedPDO Mapping NoValue Range UNSIGNED8 (Table 54)Default Value (device profile dependent)

Sub-Index 3hDescription inhibit timeEntry Category OptionalAccess rwPDO Mapping NoValue Range UNSIGNED16Default Value No

Sub-Index 4h

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Description reservedEntry Category OptionalAccess rwPDO Mapping NoValue Range UNSIGNED8Default Value No

Sub-Index 5hDescription event timerEntry Category OptionalAccess rwPDO Mapping NoValue Range 0 = not used UNSIGNED16Default Value No

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Object 1A00h – 1A1Fh: Transmit PDO MappingParameterContains the mapping for the PDOs the device is able to transmit. The type of the PDO mappingparameter (21h) is described in 9.5.4. A detailed description of the entries is done in the sectionfor the Receive PDO Mapping Parameter (1600h – 161Fh).

OBJECT DESCRIPTIONINDEX 1A00h – 1A1FhName transmit PDO mappingObject Code RECORDData Type PDO MappingCategory Conditional; Mandatory for each supported

PDO

ENTRY DESCRIPTIONSub-Index 0hDescription number of mapped application objects in PDOEntry Category MandatoryAccess ro; rw if dynamic mapping is supportedPDO Mapping NoValue Range 0: deactivated 1 - 64: activatedDefault Value (device profile dependent)

Sub-Index 1h - 40hDescription PDO mapping for the n-th application object to

be mappedEntry Category Conditional; depends on number and size of

objects to be mappedAccess RwPDO Mapping NoValue Range UNSIGNED32Default Value (device profile dependent)

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Multiplexed PDOsMPDO ProtocolThis protocol is used to implement MPDO services. The MPDO producer sends data and themultiplexor indicating the source or destination address.

MPDO -------------------------------------------------- PDOProducer Consumer

Byte 0 1-3 4-8Meaning f Addr m D

‘d’ shall contain the data to be transferred. The value always shall be filled up to 32 bit. 3‘m’ shall contain the multiplexor (Index and Sub-Index) of the variable in the object dictionary.The MSB ‘f’ of the first byte shall be a format flag, and ‘addr’ shall be an address field, which maybe used in the following combinations:

f addr Usage0 0 Reserved0 1-127 Source addressing. addr is a single producer’s Node ID. Multiplexor

is index and sub-index of the object dictionary of the producer.1 0 Destination addressing. The consumer is a group.1 1-127 Destination addressing. addr is a single consumer’s Node ID.

Multiplexor is index and sub-index of the object dictionary of theconsumer.

Destination Address Mode (DAM)The addr and the m field of the MPDO refers to the consumer. This allows access to theconsumer’s Object Dictionary in an SDO-like manner. With addr = 0 , it allows multicasting andbroadcasting, to write into the Object Dictionaries of more than one node simultaneously, withouthaving a PDO for each single object.Initiating a DAM-MPDO is application-dependent, like it is for SDOs.

Source Address Mode (SAM)The addr and the m field of the MPDO refers to the producer. Only one producer MPDO of thistype is allowed for each node.Transmission type has to be 254 or 255.The producer uses an Object Scanner List in order to know, which objects are to send. Theconsumer uses an Object Dispatcher List as a ‘cross reference’. 3 The restriction about using 32-bit transfers only will not present problems in practice since all of the participating devices knowthe data types (and sizes) of their related objects.

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Object dictionary entriesPDO Mapping RecordThe meaning of Sub-Index 0 (number of mapped objects is extended. The valid range for non-multiplexed PDOs is 0 to 64. A value of 255 indicates a DAM-MPDO, a value of 254 indicates anSAM-MPDO.

For SAM, the further entries in the MR are don’t care.

For DAM the first object describes the local object (there can be mapped only one object into anMPDO).

Index Object Name Type16XXh-1AXXh 0h Number of mapped objects in the PDO: 0 ..

64: Valid range for number of mapped objects254: formatted as SAM- MPDO 255:formatted as DAM- MPDO

Unsigned8

This leaves open the possibility for further alternative PDO formats.

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Additional error code meaningsError Code MeaningTBD

PredefinitionsIntroductionAll TPDOs with transmission type 255 shall be transmitted when entering the OPERATIONALstate.

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PDO Mapping6.2.1 1st RPDO mapping (Memory Access)This RPDO receives asynchronously the objects that control the memory module access. Thedefault transmission type shall be 255. The default values of the mapped outputs are described inthe Default State objects. Note: After power-on and application reset these default objects arevalid.Index Sub-Index Comment Default Value1600h 0h number of mapped objects 11600h 1h 1st object to be mapped 3110 00 40h

6.2.2 1st TPDO mapping (Memory Access)The default transmission type shall be 255; the default values for inhibit and event timer are 0. Ifone of the values changes its value, this PDO shall be transmitted immediately.

Index Sub-Index Comment Default Value1A00h 0h number of mapped objects 11A00h 1h 1st object to be mapped 3111 00 40h

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Manufacturer Specific ObjectsOverview:Serial Objects

Index(hex)

Object(Symbolic

Name)

Name Type Access I/OMAP

NV

2000 ARRAY Serial Transmit Data OCTET_STRING Ro N V2001 ARRAY Serial Receive Data OCTET_STRING Ro N V2002 ARRAY Serial Request Fragment SER_REQ_FRAG

MENTRww Y V

2003 ARRAY Serial Response Fragment SER_RSP_FRAGMENT

Ro Y V

2004 ARRAY Serial Control Byte UNSIGNED8 Rw Y V2005 ARRAY Serial Status Byte UNSIGNED8 Ro Y V

Serial Configuration ObjectsIndex(hex)

Object(Symbolic

Name)


NV

2100 ARRAY Serial Mode UNSIGNED8 Rw N NV2101 ARRAY Serial Flow Control UNSIGNED8 Rw N NV2102 ARRAY Serial Baud UNSIGNED32 Rw N NV2103 ARRAY Serial Data Bits UNSIGNED8 Rw N NV2104 ARRAY Serial Stop Bits UNSIGNED8 Rw N NV2105 ARRAY Serial Parity UNSIGNED8 Rw N NV2106 ARRAY Serial Char Delay UNSIGNED8 Rw N NV2107 ARRAY Serial Start String OCTET_STRING Rw N NV2108 ARRAY Serial Error String OCTET_STRING Rw N NV

CANopen ObjectsIndex(hex)

Object(Symbolic

Name)


NV

4000 VAR CANopen Baud UNSIGNED32 Rw N NV4001 VAR CANopen NodeID UNSIGNED8 Rw N NV

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Manufacturer Specific Object Details:Serial ObjectsObject 2000h: Serial Transmit DataThis object provides a way for the user to transmit data out of the serial port

Object DescriptionINDEX 2000hName Serial Transmit DataObject Code ArrayData Type OCTET_STRINGCategory Conditional Optional

Entry DescriptionSub-Index 0hDescription Number of Serial PortsAccess RoEntry Category MandatoryPDO Mapping NoValue Range UNSIGNED8Default Value 2

Sub-Index 1hDescription Serial Port 1 Transmit DataAccess RwEntry Category MandatoryPDO Mapping NoValue Range OCTET_STRINGDefault Value No

To

Sub-Index NUMBER OF SERIAL PORTSDescription Serial Port N Transmit DataAccess RwEntry Category OptionalPDO Mapping NoValue Range OCTET_STRINGDefault value No

The first byte must contain the number of bytes to transmit, followed by the data. It cannot be more than255 or specify more bytes than is sent in the SDO.

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Object 2001h: Serial Receive DataThis object provides a way for the user to receive data in from the serial port

Object DescriptionINDEX 2001hName Serial Receive DataObject Code ArrayData Type OCTET_STRINGCategory Conditional Optional


Sub-Index 1hDescription Serial Port 1 Receive DataAccess RwEntry Category MandatoryPDO Mapping NoValue Range OCTET_STRINGDefault Value No

To

Sub-Index NUMBER OF SERIAL PORTSDescription Serial Port N Receive DataAccess RwEntry Category OptionalPDO Mapping NoValue Range OCTET_STRINGDefault value No

The first byte contains the number of bytes received, followed by the data.

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Object 2002h: Serial Request FragmentThis object provides a way for the user to send and receive serial data through process data.

Object DescriptionINDEX 2002hName Serial Request FragmentObject Code ArrayData Type SER_REQ_FRAGMENTCategory Conditional Optional


Sub-Index 1hDescription Serial Port 1 Request FragmentAccess RwwEntry Category MandatoryPDO Mapping YESValue Range SER_REQ_FRAGMENTDefault Value No

To

Sub-Index NUMBER OF SERIAL PORTSDescription Serial Port N Request FragmentAccess RwwEntry Category OptionalPDO Mapping YESValue Range OCTET_STRINGDefault value No

Format of Fragmented Serial Output Data:Byte 1: Control ByteByte 2: Data-block, if necessary…Byte 8: Data-block, if necessary

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Control Byte

Byte 1 of the Output Data contains the following7 6 5 4 3 2 1 0

Frag. RxEnable

ResetRequest

TransmitMore

TransmitRequest

ReceiveAck.

Number of Data Bytes To Transmit

Bit 7 Reserved:

Bit 6 Reserved:

Bit 5 Receive Ack (RxAck):This bit must be set to the value of the Receive Request bit (RxReq) in order for the module toreceive more data. This tells the module that the “master” has received the data and has processedit.

Bit 4 Transmit Request:This bit must be toggled to signal the module that there is new data to transmit. On devices thatcannot ensure data consistency, the user should first set the number of bytes and place the properdata into the TxData mapping before toggling this bit.

Bit 3 Reset Request:When this bit is set, all errors are cleared, the buffers are flushed, and the RxReq and TxAck bitsare cleared. This allows re-sync of the protocol.

Bit 2:0 Number of Bytes To Transmit:This tells the module how many bytes of the data are valid and should be transmitted.

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Object 2003h: Serial Response FragmentThis object provides a way for the user to send and receive serial data through process data.

Object DescriptionINDEX 2002hName Serial Response FragmentObject Code ArrayData Type SER_RSP_FRAGMENTCategory Conditional Optional


Sub-Index 1hDescription Serial Port 1 Response FragmentAccess RoEntry Category MandatoryPDO Mapping YESValue Range SER_RSP_FRAGMENTDefault Value No

To

Sub-Index NUMBER OF SERIAL PORTSDescription Serial Port N Response FragmentAccess RoEntry Category OptionalPDO Mapping YESValue Range OCTET_STRINGDefault value No

Format of Fragmented Serial Response:Response:Byte 1: Status ByteByte 2: Data-block, if necessary…Byte 8: Data-block, if necessary

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Status Byte

Byte 1 of the Input Data contains the following7 6 5 4 3 2 1 0

RxEnabled

ResetAck

Error TransmitAck.

ReceiveRequest

Number of Data Bytes Received

Bit 7 Fragmented Rx Enabled:When this bit is set the gateway automatically receives data from the queue and starts transferusing process data.

Bit 6: Reset Ack:If a Reset has been requested, this value will be set to 1 to indicate that the serial port has beenreset and the buffers have been flushed. This causes the TxAck and RxReq to be reset to 0allowing re-sync of protocol.

Bit 5 ErrorWhen this value is set, an error has occurred such as parity or overrun. The user should query thestatus parameter for more information.

Bit 4: Transmit Ack:When this value is equal to the Transmit Request, it indicates that the output data has been queuedinto the output buffer. Once they are equal the user can then send more data.

Bit 3 Receive Request:This value is toggled to indicate new data has been received. The user must acknowledge thereception of data by echoing back this value in the Receive Ack bit.

Bits 2:0 Number of Bytes Received:Indicates the number of valid data bytes that are in the data section of the input data. 0-7

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Object 2004h: Serial Control ByteThis object provides a way for the user to control the port on the serial gateway, such as flow control etc.

Object DescriptionINDEX 2004hName Serial Control ByteObject Code ArrayData Type UNSIGNED8Category Conditional Optional


Sub-Index 1hDescription Serial Port 1 Control ByteAccess RwEntry Category MandatoryPDO Mapping OptionalValue Range UNSIGNED8Default Value No

To

Sub-Index NUMBER OF SERIAL PORTSDescription Serial Port N Control ByteAccess RwEntry Category OptionalPDO Mapping OptionalValue Range UNSIGNED8Default value No

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Object 2005h: Serial Status ByteThis object provides a way for the user to get the status of the port on the serial gateway, such as parityerror etc.

Object DescriptionINDEX 2005hName Serial Status ByteObject Code ArrayData Type UNSIGNED8Category Conditional Optional


Sub-Index 1hDescription Serial Port 1 Status ByteAccess RoEntry Category MandatoryPDO Mapping OptionalValue Range UNSIGNED8Default Value No

To

Sub-Index NUMBER OF SERIAL PORTSDescription Serial Port N Status ByteAccess RoEntry Category OptionalPDO Mapping OptionalValue Range UNSIGNED8Default value No

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Serial Configuration Objects

Object 2100h: Serial ModeThis object provides a way for the user to set the operating mode of the serial port on the serial gateway.

Object DescriptionINDEX 2100hName Serial ModeObject Code ArrayData Type UNSIGNED8Category Conditional Optional


Sub-Index 1hDescription Serial Port 1 ModeAccess RwEntry Category MandatoryPDO Mapping OptionalValue Range UNSIGNED8Default Value No

To

Sub-Index NUMBER OF SERIAL PORTSDescription Serial Port N ModeAccess RwEntry Category OptionalPDO Mapping OptionalValue Range UNSIGNED8Default value No

0=Pass Through1=Translate

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Object 2101h: Serial Flow ControlThis object provides a way for the user to set the flow control of the serial port on the serial gateway.

Object DescriptionINDEX 2101hName Flow ControlObject Code ArrayData Type UNSIGNED8Category Conditional Optional


Sub-Index 1hDescription Serial Port 1 Flow ControlAccess RwEntry Category MandatoryPDO Mapping OptionalValue Range UNSIGNED8Default Value No

To

Sub-Index NUMBER OF SERIAL PORTSDescription Serial Port N Flow ControlAccess RwEntry Category OptionalPDO Mapping OptionalValue Range UNSIGNED8Default value No

0=None1=CTS/RTS2=XON/XOFF

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Object 2102h: Serial BaudThis object provides a way for the user to set the baud rate of the serial port on the serial gateway.

Object DescriptionINDEX 2102hName Serial BaudObject Code ArrayData Type UNSIGNED32Category Conditional Optional


Sub-Index 1hDescription Serial Port 1 BaudAccess RwEntry Category MandatoryPDO Mapping OptionalValue Range UNSIGNED32Default Value No

To

Sub-Index NUMBER OF SERIAL PORTSDescription Serial Port N BaudAccess RwEntry Category OptionalPDO Mapping OptionalValue Range UNSIGNED32Default value No

The gateway supports the standard serial baud rates (300,600,1200,2400,4800,9600,19200,38400,57600).The user has the option of entering off standard baud rates and the gateway will do its best to match thespecified baud rate. These values should be used at the users responsibility.

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Object 2103h: Serial Data WidthThis object provides a way for the user to set the data width of the serial port on the serial gateway.

Object DescriptionINDEX 2103hName Serial Data WidthObject Code ArrayData Type UNSIGNED8Category Conditional Optional


Sub-Index 1hDescription Serial Port 1 Data WidthAccess RwEntry Category MandatoryPDO Mapping OptionalValue Range UNSIGNED8Default Value No

To

Sub-Index NUMBER OF SERIAL PORTSDescription Serial Port N Data WidthAccess RwEntry Category OptionalPDO Mapping OptionalValue Range UNSIGNED8Default value No

Supported values:78

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Object 2104h: Serial Stop BitsThis object provides a way for the user to set the stop bits of the serial port on the serial gateway.

Object DescriptionINDEX 2104hName Serial Stop BitsObject Code ArrayData Type UNSIGNED8Category Conditional Optional


Sub-Index 1hDescription Serial Port 1 Stop BitsAccess RwEntry Category MandatoryPDO Mapping OptionalValue Range UNSIGNED8Default Value No

To

Sub-Index NUMBER OF SERIAL PORTSDescription Serial Port N Stop BitsAccess RwEntry Category OptionalPDO Mapping OptionalValue Range UNSIGNED8Default value No

Supported Values12

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Object 2105h: Serial ParityThis object provides a way for the user to set the parity of the serial port on the serial gateway.

Object DescriptionINDEX 2105hName Serial ParityObject Code ArrayData Type UNSIGNED8Category Conditional Optional


Sub-Index 1hDescription Serial Port 1 ParityAccess RwEntry Category MandatoryPDO Mapping OptionalValue Range UNSIGNED8Default Value No

To

Sub-Index NUMBER OF SERIAL PORTSDescription Serial Port N ParityAccess RwEntry Category OptionalPDO Mapping OptionalValue Range UNSIGNED8Default value No

Supported Values:0=None1=Odd2=Even3=Mark4=Space

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Object 2106h: Serial Char DelayThis object provides a way for the user to set the inter-character transmit delay of the serial port on theserial gateway.

Object DescriptionINDEX 2106hName Serial Char DelayObject Code ArrayData Type UNSIGNED8Category Conditional Optional


Sub-Index 1hDescription Serial Port 1 Character DelayAccess RwEntry Category MandatoryPDO Mapping OptionalValue Range UNSIGNED8Default Value No

To

Sub-Index NUMBER OF SERIAL PORTSDescription Serial Port N Character DelayAccess RwEntry Category OptionalPDO Mapping OptionalValue Range UNSIGNED8Default value No

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Object 2107h: Serial Start StringThis object provides a way for the user to set the start string of the serial port on the serial gateway.

Object DescriptionINDEX 2107hName Serial Start StringObject Code ArrayData Type OCTET_STRINGCategory Conditional Optional

Entry DescriptionSub-Index 0hDescription Number of Serial PortsAccess RoEntry Category MandatoryPDO Mapping NoValue Range OCTET_STRINGDefault Value 2

Sub-Index 1hDescription Serial Port 1 Start StringAccess RwEntry Category MandatoryPDO Mapping OptionalValue Range OCTET_STRINGDefault Value No

To

Sub-Index NUMBER OF SERIAL PORTSDescription Serial Port N Start StringAccess RwEntry Category OptionalPDO Mapping OptionalValue Range OCTET_STRINGDefault value No

The string defined here will be transmitted out the corresponding port when the module first boots up.

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Object 2108h: Serial Error StringThis object provides a way for the user to set the error string of the serial port on the serial gateway.

Object DescriptionINDEX 2108hName Serial Error StringObject Code ArrayData Type OCTET_STRINGCategory Conditional Optional

Entry DescriptionSub-Index 0hDescription Number of Serial PortsAccess RoEntry Category MandatoryPDO Mapping NoValue Range OCTET_STRINGDefault Value 2

Sub-Index 1hDescription Serial Port 1 Error StringAccess RwEntry Category MandatoryPDO Mapping OptionalValue Range OCTET_STRINGDefault Value No

To

Sub-Index NUMBER OF SERIAL PORTSDescription Serial Port N Error StringAccess RwEntry Category OptionalPDO Mapping OptionalValue Range OCTET_STRINGDefault value No

The string defined here will be transmitted out the corresponding port when the module has a CAN errorsuch as a busoff or Node Guard failure.

Serial Gateway CANopen v1.0A - INC , LLC Gateway CANopen...The data received on the serial port is...

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Transcript of Serial Gateway CANopen v1.0A - INC , LLC Gateway CANopen...The data received on the serial port is...