Table of CANopen-specific objects

1000h

0

Device type

RO

Unsigned 32

N

0

1001h

0

Error register

RO

Unsigned 8

N

0

1002h

0

Manufacturer status register

RO

Unsigned 16

N

0

1005h

0

COB-ID Sync

RW

Unsigned 32

N

00000080h

1008h

0

Manufacturer device name

RO

String

N

LTPB

1009h

0

Manufacturer hardware version

RO

String

N

x.xx (e.g. 1.00)

100Ah

0

Manufacturer software version

RO

String

N

x.xx (e.g. 1.12)

100Ch

0

Guard time [1 ms]

RW

Unsigned 16

N

0

100Dh

0

Life time factor

RW

Unsigned 8

N

0

1014h

0

COB-ID EMCY

RW

Unsigned 32

N

00000080h+Node ID

1015h

0

Inhibit time emergency [100 μs]

RW

Unsigned 16

N

0

1017h

0

Producer heart beat time [1 ms]

RW

Unsigned 16

N

0

1018h

0

Identity object no. of entries

RO

Unsigned 8

N

4

1

Vendor ID

RO

Unsigned 32

N

0x00000059

2

Product code

RO

Unsigned 32

N

Depends on inverter

3

Revision number

RO

Unsigned 32

N

x.xx (IDL version: 0.33)

4

Serial number

RO

Unsigned 32

N

e.g. 1234/56/789 Output of the last 9 numbers of the serial number.

1200h

0

SDO parameter no. of entries

RO

Unsigned 8

N

2

1

COB-ID client -> server (Rx)

RO

Unsigned 32

N

00000600h+Node ID

2

COB-ID server -> client (Tx)

RO

Unsigned 32

N

00000580h+Node ID

1400h

0

Rx PDO1 comms param no. of entries

RO

Unsigned 8

N

2

1

Rx PDO1 COB-ID

RW

Unsigned 32

N

00000200h+Node ID

2

Rx PDO1 transmission type

RW

Unsigned 8

N

1

1401h

0

Rx PDO2 comms param no. of entries

RO

Unsigned 8

N

2

1

Rx PDO2 COB-ID

RW

Unsigned 32

N

00000300h+Node ID

2

Rx PDO2 transmission type

RW

Unsigned 8

N

1

1600h

0

Rx PDO1 mapping / no. of entries

RW

Unsigned 8

N

4

1

Rx PDO1 1st mapped object

RW

Unsigned 32

N

20010010h

2

Rx PDO1 2nd mapped object

RW

Unsigned 32

N

20020010h

3

Rx PDO1 3rd mapped object

RW

Unsigned 32

N

20030010h

4

Rx PDO1 4th mapped object

RW

Unsigned 32

N

20040010h

1601h

0

Rx PDO2 mapping / no. of entries

RW

Unsigned 8

N

4

1

Rx PDO2 1st mapped object

RW

Unsigned 32

N

20160010h

2

Rx PDO2 2nd mapped object

RW

Unsigned 32

N

20170010h

3

Rx PDO2 3rd mapped object

RW

Unsigned 32

N

20150010h

4

Rx PDO2 4th mapped object

RW

Unsigned 32

N

00060010h

1800h

0

Tx PDO1 comms param no. of entries

RO

Unsigned 8

N

3

1

Tx PDO1 COB-ID

RW

Unsigned 32

N

40000180h+Node ID

2

Tx PDO1 transmission type

RW

Unsigned 8

N

1

3

Tx PDO1 inhibit time [100μs]

RW

Unsigned 16

N

0

1801h

0

Tx PDO2 comms param no. of entries

RO

Unsigned 8

N

3

1

Tx PDO2 COB-ID

RW

Unsigned 32

N

40000280h+Node ID

2

Tx PDO2 transmission type

RW

Unsigned 8

N

1

3

Tx PDO2 inhibit time [100μs]

RW

Unsigned 16

N

0

1A00h

0

Tx PDO1 mapping / no. of entries

RW

Unsigned 8

N

4

1

Tx PDO1 1st mapped object

RW

Unsigned 32

N

21010010h

2

Tx PDO1 2nd mapped object

RW

Unsigned 32

N

21020010h

3

Tx PDO1 3rd mapped object

RW

Unsigned 32

N

21030010h

4

Tx PDO1 4th mapped object

RW

Unsigned 32

N

21040010h

1A01h

0

Tx PDO2 mapping / no. of entries

RW

Unsigned 8

N

4

1

Tx PDO2 1st mapped object

RW

Unsigned 32

N

21180010h

2

Tx PDO2 2nd mapped object

RW

Unsigned 32

N

21190010h

3

Tx PDO2 3rd mapped object

RW

Unsigned 32

N

211A0010h

4

Tx PDO2 4th mapped object

RW

Unsigned 32

N

21160010h