Canopen Communication Overview - IFM Electronic Ecomot 100 Handbuch

CAN CR3101
MEM
2. CAN communication overview
CANmem contains an object directory and supports the communication mecha-
nisms in accordance with CiA DS 301 version 4.0. The parameters for the ex-
change of data (writing and reading) are set via entries in the object directory.
• 1 server SDO and 8 receive PDOs according to CiA DS 401 are available.
The default IDs are assigned according to the "predefined connection set".
The device supports no dynamic "PDO mapping".
• The COB IDs of the individual PDOs are configurable.
Modified PDOs (PDO linking) are stored non volatilely.
• The module expects a synch object.
The CAN identifier of the synch object is configurable. After a modification the
ID is automatically stored non volatilely.
• The module supports "node guarding".
The "guard time", "life time factor" and the CAN identifier of the guard object
are configurable and stored non volatilely.
• The module generates an emergency object.
The COB ID of the EMCY object is configurable.
• The module stores the last 4 errors.
The error code of the corresponding emergency object is stored.
• The module supports a reset function,
i.e. assignment of the default values* set at the factory to the parameters.
• The article no., HW and SW version are stored in the object directory and can
be read.
*) Default values set at the factory
→ 7. Parameter and EMCY object overview → List of parameters
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