IFM Electronic Ecomot 100 Handbuch Seite 46

CAN CR3101
MEM
Communication profiles; index 1000 to 1FFF (acc. to CiA DS 301)
Index S-Idx
1010 0x00
save options
0x01
parameters
1011 0x00
restore options
0x01 Restore default
parameters
1014 0x00
1200 0x00 Server SDO
0x01
0x02
1400 0x00
0x01
0x02
1401 0x00
0x01
0x02
46
Name Type
Number of u8, ro
Store u32, rw
Number of u8, ro
u32, rw
COB ID u32, rw
EMCY
u8, ro
COB ID u32, ro
Rec SDO
COB ID u32, ro
Trans SDO
Rec PDO 1 u8, ro
COB ID u32, rw
Rec PDO 1
Trans Type u8, rw
Rec PDO 1
Rec PDO 2 u8, ro
COB ID u32, rw
Rec PDO 2
Trans Type u8, rw
Rec PDO 2
Default Description
0x01 Number of the "save options"
0x02 All parameters are automatically
saved after a change.
0x01 Number of the "reset" options
0x01 If the string "load" is entered here,
the default parameters set at the
factory are restored and valid after the
next reset.
- The module does not react to EMCY
0x40000080
+Node ID mess. of other devices (bit 31 = 0)
- The module generates EMCY mess.
(bit 30 = 1)
- 11 bit ID (bit 29 = 0)
- ID = 0x80 + Node ID
CAN identifier can be changed
by the user.
0x02 Number of the entries
0x600 + - SDO is valid (bit 31 = 0)
Node ID - CAN ID of the Receive SDO
0x580 + - SDO is valid (bit 31 = 0)
Node ID - CAN-ID of the Transmit SDO
0x02 Number of the entries Receive PDO 1
- PDO is valid (bit 31 = 0)
0x00000200
+ Node ID - CAN ID of the 1st Rec PDO
0x01 0x00 = synch acyclic
0x01...0xF0 = synch cyclic;
Outputs are only updated after "n"
synch objects
n = 0x01 (1)...0xF0 (240)
0xFC not implemented
0xFD not implemented
0xFE = asynch man. spec. event;
Outputs are updated immediately
0xFF = asynch device profile event;
Outputs are updated immediately
(CANmem permanently coded to
asynchronous!)
0x02 Number of the entries Receive PDO 2
- PDO is valid (bit 31 = 0)
0x00000300
+ Node ID - CAN ID of the 2nd Rec PDO
0x01 (see above, Idx 1400)