Object Directory - Aventics AV Systembeschreibung

Table 30:

Object directory

Index in Sub-index
Name (Reference)
hex in hex
1000 00 Device type
1001 00 Error register
1003 Pre-defined error field
00 Number of errors
01 Standard error field
02 Standard error field
03 Standard error field
04 Standard error field
1005 00 COB-ID SYNC message
1008 00 Manufacturer device name
1009 00 Manufacturer hardware
version
100A 00 Manufacturer software
version
100C 00 Guard time
100D 00 Life time factor
1014 00 COB-ID emergency message rw
1016 Consumer heartbeat time
01 Consumer heartbeat time
02 Consumer heartbeat time
03 Consumer heartbeat time
1017 00 Producer heartbeat time
1018 Identity object
01 Vendor ID
02 Product code
03 Revision number
04 Serial number
1027 Module list
00 Number of connected
modules
01 Module 1
.. ..
2a Module 42
1029 Error_behavior
01 Communication error
1200 SDO server 1 parameter
01 COB-ID client -> server (rx)
02 COB-ID server -> client (tx)
14xx RPDO x comm. parameter
00 Highest sub-index supported ro
AVENTICS | Bus Coupler AES/Valve Driver AV, CANopen | R412018137–BAL–001–AE
15.3 Object directory
Attribute Mappable Object type
ro n
ro y
rw n
ro n
ro n
ro n
ro n
rw n
ro n
ro n
ro n
rw n
rw n
n
rw n
rw n
rw n
rw n
ro n
ro n
ro n
ro n
ro n
ro n
.. ..
ro n
rw n
ro n
ro n
n
Data type
var UNSIGNED32
var UNSIGNED8
ARRAY UNSIGNED32
UNSIGNED8
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
var UNSIGNED32
var VISIBLE_STRING
var VISIBLE_STRING
var VISIBLE_STRING
var UNSIGNED16
var UNSIGNED8
var UNSIGNED32
ARRAY
UNSIGNED32
UNSIGNED32
UNSIGNED32
var UNSIGNED16
Record IDENTITY
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
ARRAY
UNSIGNED8
UNSIGNED16
..
UNSIGNED16
ARRAY
UNSIGNED8
Record SDO_PARAMETER
UNSIGNED32
UNSIGNED32
Record PDO_COMMUNICATION_PARA
METER
UNSIGNED8
127
Appendix
Default value,
Validity range (1)
0002 0191h
or
000E 0191h
0x00
00h
0000 0000h
0000 0000h
0000 0000h
0000 0000h
0000 0080h
"VendorName AES
CANopen"
hardware version string,
e.g. "V01.00"
software version string,
e.g. "V01.00"
0000h
00h
80h + node ID
0000 0000h
0000 0000h
0000 0000h
0000h
0000 01B2h
0000 0000h
0000 0000h
FFFF FFFFh
(or possibly HW serial
number)
Number of connected
modules
ID module 1 (or 00h)
..
ID module 42 (or 00h)
00
0000 0600h + node ID
0000 0580h + node ID
02h