Cob-Id - Aventics AV Systembeschreibung

136 AVENTICS | Bus Coupler AES/Valve Driver AV, CANopen | R412018137–BAL–001–AE
Appendix
Table 30: Object directory
Index in Sub-index
Name (Reference)
hex in hex
6411 Write analog output 16 bit
00 Number of analog outputs
16 bit
01 Analog output 01h
... ...
0A Analog output 0Ah
Attribute Mappable Object type
ro n
rw J
... ...
rw J
15.3.1

COB-ID

Table 31:
Bit number
31(MSB)
30
29
29
28 - 11
10-0 (LSB)
15.3.1.1 Sub 01: COB-ID used by RPDO
Table 32:
14xx RPDO x comm. parameter
00 Highest sub-index supported
01 COB-ID used by RPDO
02 Transmission type
Table 33:
Object PDOx
1400 PDO1
1401 PDO2
1402 PDO3
1403 PDO4
1404 PDO5
1405 PDO6
1406 PDO7
1407 PDO8
1408 PDO9
1409 PDO10
140A PDO11
140B PDO12
140C PDO13
140D PDO14
Data type
ARRAY
UNSIGNED8
INTEGER16
...
INTEGER16
Value Meaning
0 PDO exists / is valid
1 PDO does not exist / is not valid
0 RTR allowed on this PDO
1 No RTR allowed on this PDO
0 11 bit ID
1 Bit ID (not supported)
0 If bit29=0
x if bit29=1 : bits 28-11 of 29-bit-CO-ID
X Bits 10-0 of COB-ID
RECORD PDO_COMMUNICATION_PARAMETER
UNSIGNED8 02h
UNSIGNED32 see below
UNSIGNED8 FFh
Meaning
1)
Valves digital out
Valves analog out
Valves analog out
Valves analog out
1)
Valves digital out
Valves digital out
Valves digital out
Valves digital out
Valves analog out
Valves analog out
Valves analog out
IO digital out
IO digital out
IO digital out
Default value,
Validity range (1)
(up to 10 pressure
regulator modules)
Number of pressure
regulator modules
0000h
...
0000h
Default value
0200 + node ID
0300 + node ID
0400 + node ID
0500 + node ID
8000
8000
8000
8000
8000
8000
8000
8000
8000
8000