Documentation 3-9636AR08

Description

CANopen implementaion Fiber Fiber Switch

Line 0

Table of Objects - Line 0


[ Top ] [ Top of line ]
Object 1000h: Device Type
The device type specifies the kind of device.
The lower 16 bit contain the device profile number
and the upper 16 bit an additional information.
Object Description
INDEX 1000
Name Device Type
Object Code Variable
Data Type UNSIGNED32
Category Mandatory
Entry Description
Access CONST
PDO Mapping No
Default Value 0x0000000
Lower Limit 0x00000000
Upper Limit 0xFFFFFFFF
Unit -
Object 1001h: Error Register
The error register is a field of 8 bits, each for a certain error type.
If an error occurs the bit has to be set.
 
Bit Meaning
0  generic error
1  current
2  voltage
3  temperature
4  communication error (overrun, error state)
5  device profile specific
6  reserved
7  manufacturer specific
Object Description
INDEX 1001
Name Error Register
Object Code Variable
Data Type UNSIGNED8
Category Mandatory
Entry Description
Access RO
PDO Mapping No
Default Value 0x00
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Object 1008h: Manufacturer Device Name
Contains the device name.
Object Description
INDEX 1008
Name Manufacturer Device Name
Object Code Variable
Data Type VISIBLE_STRING
Category Optional
Entry Description
Access CONST
PDO Mapping No
Default Value Fiber Fiber Switch
Lower Limit -
Upper Limit -
Unit -
Object 1009h: Manufacturer Hardware Version
Contains the device hardware version.
Object Description
INDEX 1009
Name Manufacturer Hardware Version
Object Code Variable
Data Type VISIBLE_STRING
Category Optional
Entry Description
Access CONST
PDO Mapping No
Default Value 3-9636
Lower Limit -
Upper Limit -
Unit -
Object 100Ah: Manufacturer Software Version
Contains the device software version.
Object Description
INDEX 100A
Name Manufacturer Software Version
Object Code Variable
Data Type VISIBLE_STRING
Category Optional
Entry Description
Access CONST
PDO Mapping No
Default Value R08
Lower Limit -
Upper Limit -
Unit -
Object 1016h: Heartbeat Consumer Entries
The consumer heartbeat time defines the expected heartbeat cycle
time and thus has to be higher than the corresponding producer heartbeat
time configured on the device producing this heartbeat.

The bits 31 - 24 of each sub-index has to be 0.
The bits 23 - 16 contain the node-id.
The lower 16 bits contain the heartbeat time
Object Description
INDEX 1016
Name Heartbeat Consumer Entries
Object Code Array
Data Type UNSIGNED32
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x01
Lower Limit 0x1
Upper Limit 0x7F
Unit -
Sub-Index 001
Description Consumer Heartbeat Time 1
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x00000000
Lower Limit 0x0
Upper Limit 0x02FFFFFF
Unit ms
Object 1017h: Producer Heartbeat Time
The producer heartbeat time defines the cycle 
time of the heartbeat. If the time is 0 it is not used.
The time has to be a multiple of 1 msec
Object Description
INDEX 1017
Name Producer Heartbeat Time
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x00000000
Lower Limit 0x0
Upper Limit 0xFFFF
Unit ms
Object 1018h: Identity Object
This object contains general information about the
device.
Sub-Index 1 contains a unique value allocated each manufacturer.
Sub-Index 2 identifies the manufacturer specific product code (device version).
Sub-Index 3 contains the revision number.
Bit 31-16 is the major revision number and Bit 15-0 the minor revision number.
Sub-Index 4 identifies a manufacturer specific serial number.
Object Description
INDEX 1018
Name Identity Object
Object Code Record
Data Type IDENTITY
Category Mandatory
Entry Description
Sub-Index 000
Description number of entries
Entry Category Mandatory
Access RO
PDO Mapping No
Default Value 0x4
Lower Limit 0x1
Upper Limit 0x4
Unit -
Sub-Index 001
Description Vendor Id
Entry Category Mandatory
Access RO
PDO Mapping No
Default Value 0x66
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Product Code
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x10003
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 003
Description Revision number
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit 4
Sub-Index 004
Description Serial number
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Object 1200h: Server SDO Parameter 1
The object contains the parameters for the SDOs for which
the device is the server.
Object Description
INDEX 1200
Name Server SDO Parameter 1
Object Code Record
Data Type SDO_PARAMETER
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x02
Lower Limit 0x02
Upper Limit 0x02
Unit -
Sub-Index 001
Description COB-ID Client -> Server
Entry Category Mandatory
Access RO
PDO Mapping No
Default Value 0x00000600
Lower Limit 0x00000600
Upper Limit 0xBFFFFFFF
Unit -
Sub-Index 002
Description COB-ID Server -> Client
Entry Category Mandatory
Access RO
PDO Mapping No
Default Value 0x00000580
Lower Limit 0x00000580
Upper Limit 0xBFFFFFFF
Unit -
Object 1400h: Receive PDO Communication Parameter 1
It contains the communication parameters of the current PDO
the device is able to receive.
Sub-index 0 contains the number of PDO-parameters implemented.
Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled.
The  transmission mode is defined by sub-index 2.
Object Description
INDEX 1400
Name Receive PDO Communication Parameter 1
Object Code Record
Data Type PDO_COMM_PAR
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x02
Lower Limit 0x02
Upper Limit 0x05
Unit -
Sub-Index 001
Description COB-ID
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x00000200
Lower Limit 0x00000001
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Transmission Type
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0xFE
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Object 1600h: Receive PDO Mapping Parameter 1
The sub-indices contain the indices, the sub-indices and the
lengths of the mapped sub-indices.

Their structure is as follows:
index (16bit)   sub-index (8bit)   length (8bit)
Object Description
INDEX 1600
Name Receive PDO Mapping Parameter 1
Object Code Record
Data Type PDO_MAPPING
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Mandatory
Access RO
PDO Mapping No
Default Value 0x02
Lower Limit 0x0
Upper Limit 0x40
Unit -
Sub-Index 001
Description Mapping Entry 1
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20000008
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Mapping Entry 2
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20010008
Lower Limit 0x00000000
Upper Limit 0xFFFFFFFF
Unit -
Object 1800h: Transmit PDO Communication Parameter 1
It contains the communication parameters of the current PDO
the device is able to transmit.
Sub-index 0 contains the number of PDO-parameters implemented.
Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled.
The transmission mode is defined by sub-index 2.
An inhibit time can be defined on sub-index 3 in 100 µs.
Object Description
INDEX 1800
Name Transmit PDO Communication Parameter 1
Object Code Record
Data Type PDO_COMM_PAR
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x03
Lower Limit 0x02
Upper Limit 0x05
Unit -
Sub-Index 001
Description COB-ID
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x00000180
Lower Limit 0x00000001
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Transmission Type
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0xFE
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Sub-Index 003
Description Inhibit Time
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x32
Lower Limit 0x0
Upper Limit 0xFFFF
Unit 100 µs
Object 1801h: Transmit PDO Communication Parameter 2
It contains the communication parameters of the current PDO the device is able to transmit.
Sub-index 0 contains the number of PDO-parameters implemented.
Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled.
The transmission mode is defined by sub-index 2.
An inhibit time can be defined on sub-index 3 in 100 µs.
Object Description
INDEX 1801
Name Transmit PDO Communication Parameter 2
Object Code Record
Data Type PDO_COMM_PAR
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x03
Lower Limit 0x2
Upper Limit 0x5
Unit -
Sub-Index 001
Description COB-ID
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x00000280
Lower Limit 0x00000001
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Transmission Type
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0xFE
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Sub-Index 003
Description Inhibit Time
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x3E8
Lower Limit 0x0
Upper Limit 0xFFFF
Unit 100 µs
Object 1802h: Transmit PDO Communication Parameter 3
It contains the communication parameters of the current PDO the device is able to transmit.
Sub-index 0 contains the number of PDO-parameters implemented.
Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled.
The transmission mode is defined by sub-index 2.
An inhibit time can be defined on sub-index 3 in 100 µs.
Object Description
INDEX 1802
Name Transmit PDO Communication Parameter 3
Object Code Record
Data Type PDO_COMM_PAR
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x03
Lower Limit 0x2
Upper Limit 0x5
Unit -
Sub-Index 001
Description COB-ID
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x00000380
Lower Limit 0x00000001
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Transmission Type
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0xFE
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Sub-Index 003
Description Inhibit Time
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x2710
Lower Limit 0x0
Upper Limit 0xFFFF
Unit 100 µs
Object 1803h: Transmit PDO Communication Parameter 4
It contains the communication parameters of the current PDO the device is able to transmit.
Sub-index 0 contains the number of PDO-parameters implemented.
Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled.
The transmission mode is defined by sub-index 2.
An inhibit time can be defined on sub-index 3 in 100 µs.
Object Description
INDEX 1803
Name Transmit PDO Communication Parameter 4
Object Code Record
Data Type PDO_COMM_PAR
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x03
Lower Limit 0x2
Upper Limit 0x5
Unit -
Sub-Index 001
Description COB-ID
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x00000480
Lower Limit 0x00000001
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Transmission Type
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0xFE
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Sub-Index 003
Description Inhibit Time
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x32
Lower Limit 0x0
Upper Limit 0xFFFF
Unit 100 µs
Object 1A00h: TPDO Mapping Parameter 1
Contains the mapping for the PDOs the device is able to transmit.
The type of the PDO mapping parameter is at index 21h.
The subindex 0h contains the number of valid entires within the mapping record.
This number of entries is also the number of the application variables
which shall be transmitted with the corresponding PDO.
The subindex from 1h to number of entries contain the information
about the mapped application variables.
These entries describe the PDO contents by their index, subindex and length.
All three values are hexa-decimal coded.
The length entry contains the length of the object in bits (1..40h).
This parameter can be used to verify the overall mapping length. It is mandatory.
Object Description
INDEX 1A00
Name TPDO Mapping Parameter 1
Object Code Record
Data Type PDO_MAPPING
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Mandatory
Access RO
PDO Mapping No
Default Value 0x02
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Sub-Index 001
Description CSE_status[1]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20100110
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description CSE_status[2]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20100210
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Object 1A01h: TPDO Mapping Parameter 2
Contains the mapping for the PDOs the device is able to transmit.
The type of the PDO mapping parameter is at index 21h.
The subindex 0h contains the number of valid entires within the mapping record.
This number of entries is also the number of the application variables
which shall be transmitted with the corresponding PDO.
The subindex from 1h to number of entries contain the information about
the mapped application variables.
These entries describe the PDO contents by their index, subindex and length.
All three values are hexa-decimal coded.
The length entry contains the length of the object in bits (1..40h).
This parameter can be used to verify the overall mapping length. It is mandatory.
Object Description
INDEX 1A01
Name TPDO Mapping Parameter 2
Object Code Record
Data Type PDO_MAPPING
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Mandatory
Access RO
PDO Mapping No
Default Value 0x08
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Sub-Index 001
Description FFBD_analog[1]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20110108
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description SCLD_analog[1]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20120108
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 003
Description Humidity
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20130108
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit %RH
Sub-Index 004
Description spare
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20170108
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 005
Description FFBD_analog[2]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20110208
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 006
Description SCLD_analog[2]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20120208
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 007
Description Humidity
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20130208
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit %RH
Sub-Index 008
Description spare
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20170208
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Object 1A02h: TPDO Mapping Parameter 3
Contains the mapping for the PDOs the device is able to transmit.
The type of the PDO mapping parameter is at index 21h.
The subindex 0h contains the number of valid entires within the mapping record.
This number of entries is also the number of the application variables
which shall be transmitted with the corresponding PDO.
The subindex from 1h to number of entries contain the information about
the mapped application variables.
These entries describe the PDO contents by their index, subindex and length.
All three values are hexa-decimal coded.
The length entry contains the length of the object in bits (1..40h).
This parameter can be used to verify the overall mapping length. It is mandatory.
Object Description
INDEX 1A02
Name TPDO Mapping Parameter 3
Object Code Record
Data Type PDO_MAPPING
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Mandatory
Access RO
PDO Mapping No
Default Value 0x04
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Sub-Index 001
Description FFBD_analog_16[1]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x201D0110
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description FFBD_analog_16[2]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x201E0110
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 003
Description SCLD_analog_16[1]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x201D0210
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 004
Description SCLD_analog_16[2]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x201E0210
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Object 1A03h: TPDO Mapping Parameter 4
Contains the mapping for the PDOs the device is able to transmit.
The type of the PDO mapping parameter is at index 21h.
The subindex 0h contains the number of valid entires within the mapping record.
This number of entries is also the number of the application variables
which shall be transmitted with the corresponding PDO.
The subindicex from 1h to number of entries contain the information about
the mapped application variables.
These entries describe the PDO contents by their index, subindex and length.
All three values are hexa-decimal coded.
The length entry contains the length of the object in bits (1..40h).
This parameter can be used to verify the overall mapping length. It is mandatory.
Object Description
INDEX 1A03
Name TPDO Mapping Parameter 4
Object Code Record
Data Type PDO_MAPPING
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Mandatory
Access RO
PDO Mapping No
Default Value 0x04
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Sub-Index 001
Description Status_Thresholds[1]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20300108
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Status_Thresholds[2]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20300208
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 003
Description Status Break Enable[1]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20310108
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 004
Description Status Break Enable[2]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20310208
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Object 2000h: Switches, common PDO


Object Description





INDEX
2000




Name
Switches, common PDO




Object Code
Variable




Data Type
UNSIGNED8




Category
Optional





Entry Description





Access
RWW




PDO Mapping
Yes




Default Value
0x00




Lower Limit
0x00




Upper Limit
0xFF




Unit
-






 




Object 2001h: Alignment diodes, common PDO




Object Description





INDEX
2001




Name
Alignment diodes, common PDO




Object Code
Variable




Data Type
UNSIGNED8




Category
Optional





Entry Description





Access
RWW




PDO Mapping
Yes




Default Value
0x00




Lower Limit
0x00




Upper Limit
0xFF




Unit
-






 



Object 2002h: Setpoint Humidity TH


%RH

Stored in non-volatile memory


Object Description





INDEX
2002




Name
Setpoint Humidity TH




Object Code
Variable




Data Type
UNSIGNED8




Category
Optional





Entry Description





Access
RW




PDO Mapping
No




Default Value
0x5F




Lower Limit
0xA




Upper Limit
0x62




Unit
%RH






 



Object 2003h: Setpoint FFBD TH


0xff = 5V

Stored in non-volatile memory


Object Description





INDEX
2003




Name
Setpoint FFBD TH




Object Code
Array




Data Type
UNSIGNED8




Category
Optional





Entry Description





Sub-Index
000




Description
Number of Entries




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x02




Lower Limit
0x0




Upper Limit
0xFF




Unit
-








Sub-Index
001




Description
FFBD Threshold[1]




Entry Category
Optional




Access
RW




PDO Mapping
No




Default Value
0x80




Lower Limit
0x00




Upper Limit
0xFF




Unit
5V/256








Sub-Index
002




Description
FFBD Threshold[2]




Entry Category
Optional




Access
RW




PDO Mapping
No




Default Value
0x80




Lower Limit
0x00




Upper Limit
0xFF




Unit
5V/256






 



Object 2004h: Setpoint SCLD TH


0xff = 5V

Stored in non-volatile memory


Object Description





INDEX
2004




Name
Setpoint SCLD TH




Object Code
Array




Data Type
UNSIGNED8




Category
Optional





Entry Description





Sub-Index
000




Description
Number of Entries




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x02




Lower Limit
0x0




Upper Limit
0xFF




Unit
-








Sub-Index
001




Description
Setpoint SCLD threshold[1]




Entry Category
Optional




Access
RW




PDO Mapping
No




Default Value
0xc0




Lower Limit
0x0




Upper Limit
0xFF




Unit
5V/256








Sub-Index
002




Description
Setpoint SCLD threshold[2]




Entry Category
Optional




Access
RW




PDO Mapping
No




Default Value
0xc0




Lower Limit
0x0




Upper Limit
0xFF




Unit
5V/256






 



Object 2005h: Manufacturer test


For manufacturer test only

Sub-Index 1-2:
Bit 0: 1 = Interlock force broken, 0 = Normal
Bit 1: 1 = Scatter light IR test diode enabled
Bit 1: 0 = Scatter light IR test diode disabled

Sub-Index 3 is Toggling interval, dynamic output for safety logic. Resolution is in 10 msec.

Sub-Index 4 is a password to unlock manufaturer test and protects against accidental writes.


Object Description





INDEX
2005




Name
Manufacturer test




Object Code
Array




Data Type
UNSIGNED8




Category
Optional





Entry Description





Sub-Index
000




Description
Number of Entries




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x4




Lower Limit
0x0




Upper Limit
0xFF




Unit
-








Sub-Index
001




Description
test vector[1]




Entry Category
Optional




Access
WO




PDO Mapping
No




Default Value
0x0




Lower Limit
0x0




Upper Limit
0xFF




Unit
-








Sub-Index
002




Description
test vector[2]




Entry Category
Optional




Access
WO




PDO Mapping
No




Default Value
0x00




Lower Limit
0x0




Upper Limit
0xFF




Unit
-








Sub-Index
003




Description
Toggling_interval




Entry Category
Optional




Access
WO




PDO Mapping
No




Default Value
0x01




Lower Limit
0x0




Upper Limit
0xFF




Unit
10msec








Sub-Index
004




Description
password




Entry Category
Optional




Access
WO




PDO Mapping
No




Default Value
0x0




Lower Limit
0x0




Upper Limit
0xFF




Unit
-






 



Object 2006h: Set Angle


Only for variable energy sharing

Stored in non-volatile memory

Set angle for variable energy sharing mirror
Variable energy sharing is only available for first branch
Branch 2 can not be variable energy sharing

Half-degree resolution.
Example:
0 = upright position
+10 = upright position + 5 deg
-20 = upright position - 10 deg


Object Description





INDEX
2006




Name
Set Angle




Object Code
Array




Data Type
INTEGER8




Category
Optional





Entry Description





Sub-Index
000




Description
Number of Entries




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x02




Lower Limit
0x00




Upper Limit
0xFF




Unit
-








Sub-Index
001




Description
Setpoint Angle[1]




Entry Category
Optional




Access
RW




PDO Mapping
No




Default Value
0x00




Lower Limit
0xE8




Upper Limit
0x18




Unit
-








Sub-Index
002




Description
Setpoint Angle[2]




Entry Category
Optional




Access
RW




PDO Mapping
No




Default Value
0x00




Lower Limit
0xE8




Upper Limit
0x18




Unit
-






 



Object 2007h: Setpoint Alignment Diode


Parameter for modulating Alignment diode intensity
1 mA/unit

Stored in non-volatile memory


Object Description





INDEX
2007




Name
Setpoint Alignment Diode




Object Code
Array




Data Type
UNSIGNED16




Category
Optional





Entry Description





Sub-Index
000




Description
Number of Entries




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x2




Lower Limit
0x0




Upper Limit
0xFF




Unit
-








Sub-Index
001




Description
Setpoint Alignment Diode[1]




Entry Category
Optional




Access
RW




PDO Mapping
No




Default Value
0x32




Lower Limit
0x0




Upper Limit
0x37




Unit
1 mA








Sub-Index
002




Description
Setpoint Alignment Diode[2]




Entry Category
Optional




Access
RW




PDO Mapping
No




Default Value
0x32




Lower Limit
0x0




Upper Limit
0x37




Unit
1 mA






 



Object 2009h: Jump to BootLoader


For expert use only, use to upgrade software from CAN
Variable value contains a signature that must be written, before software upgrade starts
A write to this SDO will cause an unconditional jump to the boot loader. There is no return. If done by mistake, only a system reset restarts the node.


Object Description





INDEX
2009




Name
Jump to BootLoader




Object Code
Variable




Data Type
UNSIGNED8




Category
Optional





Entry Description





Access
RW




PDO Mapping
No




Default Value
0x00




Lower Limit
0x00




Upper Limit
0xFF




Unit
-






 



Object 200Ah: Comm_parameters


Desciption of comm parameters
subindex 0: number of entries
subindex 1: CAN bit rate
subindex 2: CANopen NodeId

Stored in non-volatile memory


Object Description





INDEX
200A




Name
Comm_parameters




Object Code
Array




Data Type
UNSIGNED16




Category
Optional





Entry Description





Sub-Index
000




Description
Number of Entries




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x2




Lower Limit
0x00




Upper Limit
0xFF




Unit
-








Sub-Index
001




Description
CAN_bitrate




Entry Category
Optional




Access
RW




PDO Mapping
No




Default Value
0x1f4




Lower Limit
0x14




Upper Limit
0x3E8




Unit
kbit/sec








Sub-Index
002




Description
CANopen_NodeId




Entry Category
Optional




Access
RW




PDO Mapping
No




Default Value
0x15




Lower Limit
0x1




Upper Limit
0x7f




Unit
-






 



Object 200Eh: Set Break Enable


Stored in non-volatile memory


Object Description





INDEX
200E




Name
Set Break Enable




Object Code
Array




Data Type
UNSIGNED8




Category
Optional





Entry Description





Sub-Index
000




Description
Number of Entries




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x2




Lower Limit
0x00




Upper Limit
0xFF




Unit
-








Sub-Index
001




Description
Set Break Enable [1]




Entry Category
Optional




Access
RW




PDO Mapping
No




Default Value
0x01




Lower Limit
0x00




Upper Limit
0xFF




Unit
-








Sub-Index
002




Description
Set Break Enable [2]




Entry Category
Optional




Access
RW




PDO Mapping
No




Default Value
0x01




Lower Limit
0x00




Upper Limit
0xFF




Unit
-






 



Object 2010h: CSE status


Status word for CSE board
Bit 0 - Interlock, 1 = 0K, 0 = Not OK
Bit 1 - Mirror ON 
Bit 2 - Mirror OFF
Bit 3 - Stepper Motor power status, 1 = Powered, 0=Unpowered
Bit 4 - CAB Door, 1 = OK
Bit 5 - Safety OK, 1 = (Sensors_A == Sensors_B)
Bit 6 - Stepper motor status
Bit 7 - CSE Board Power OK, includes 24V logic, 5V logic and 3.3V logic supplies

Bit 8 - Alignment diode CAN, Readback from Control word
Bit 9 - User Command MODE, 1 = CAN MODE, 0 = HW signal
Bit 10 - User Command CAN, 1 = Switch ON, Readback from Control word
Bit 11 - System OK, 1 = OK
Bit 12 - Scatterlight, 1 = 0K
Bit 13 - FFBD GATE, 1 = OK
Bit 14 - Slave Module flag
Bit 15 - Laser Perm A & B, 0 = OK


Object Description





INDEX
2010




Name
CSE status




Object Code
Array




Data Type
UNSIGNED16




Category
Optional





Entry Description





Sub-Index
000




Description
Number of Entries




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x2




Lower Limit
0x0




Upper Limit
0xFF




Unit
-








Sub-Index
001




Description
CSE status[1]




Entry Category
Optional




Access
RO




PDO Mapping
Yes




Default Value
0x0




Lower Limit
0x0




Upper Limit
0xFFFF




Unit
-








Sub-Index
002




Description
CSE status[2]




Entry Category
Optional




Access
RO




PDO Mapping
Yes




Default Value
0x0




Lower Limit
0x0




Upper Limit
0xFFFF




Unit
-






 



Object 2011h: FFBD 8 bit analog value




Object Description





INDEX
2011




Name
FFBD 8 bit analog value




Object Code
Array




Data Type
UNSIGNED8




Category
Optional





Entry Description





Sub-Index
000




Description
Number of Entries




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x02




Lower Limit
0x00




Upper Limit
0xFF




Unit
-








Sub-Index
001




Description
FFBD analog[1]




Entry Category
Optional




Access
RO




PDO Mapping
Yes




Default Value
0x0




Lower Limit
0x0




Upper Limit
0xFF




Unit
5V/256








Sub-Index
002




Description
FFBD analog[2]




Entry Category
Optional




Access
RO




PDO Mapping
Yes




Default Value
0x0




Lower Limit
0x0




Upper Limit
0xFF




Unit
5V/256






 



Object 2012h: SCLD 8 bit analog value




Object Description





INDEX
2012




Name
SCLD 8 bit analog value




Object Code
Array




Data Type
UNSIGNED8




Category
Optional





Entry Description





Sub-Index
000




Description
Number of Entries




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x02




Lower Limit
0x00




Upper Limit
0xFF




Unit
-








Sub-Index
001




Description
Scatterlight analog[1]




Entry Category
Optional




Access
RO




PDO Mapping
Yes




Default Value
0x00




Lower Limit
0x00




Upper Limit
0xFF




Unit
5V/256








Sub-Index
002




Description
Scatterlight analog[2]




Entry Category
Optional




Access
RO




PDO Mapping
Yes




Default Value
0x00




Lower Limit
0x00




Upper Limit
0xFF




Unit
5V/256






 



Object 2013h: Humidity


Humidity inside FFS, 0 - 100 %RH
Humidity is common for both branches.


Object Description





INDEX
2013




Name
Humidity




Object Code
Array




Data Type
UNSIGNED8




Category
Optional





Entry Description





Sub-Index
000




Description
Number of Entries




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x02




Lower Limit
0x00




Upper Limit
0xFF




Unit
%RH








Sub-Index
001




Description
Humidity




Entry Category
Optional




Access
RO




PDO Mapping
Yes




Default Value
0x0




Lower Limit
0x00




Upper Limit
0xFF




Unit
%RH








Sub-Index
002




Description
Humidity




Entry Category
Optional




Access
RO




PDO Mapping
Yes




Default Value
0x0




Lower Limit
0x00




Upper Limit
0xFF




Unit
%RH






 



Object 2014h: Beam Switch Counter




Object Description





INDEX
2014




Name
Beam Switch Counter




Object Code
Array




Data Type
UNSIGNED32




Category
Optional





Entry Description





Sub-Index
000




Description
Number of Entries




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x02




Lower Limit
0x00




Upper Limit
0xFF




Unit
-








Sub-Index
001




Description
Beam Switch Counter[1]




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x00




Lower Limit
0x00000000




Upper Limit
0xFFFFFFFF




Unit
-








Sub-Index
002




Description
Beam Switch Counter[2]




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x00




Lower Limit
0x00000000




Upper Limit
0xFFFFFFFF




Unit
-






 



Object 2015h: FFBD Threshold


Shadow parameter, for backward compatibility only


Object Description





INDEX
2015




Name
FFBD Threshold




Object Code
Array




Data Type
UNSIGNED8




Category
Optional





Entry Description





Sub-Index
000




Description
Number of Entries




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x02




Lower Limit
0x00




Upper Limit
0xFF




Unit
-








Sub-Index
001




Description
FFBD Threshold[1]




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x0




Lower Limit
0x00




Upper Limit
0xFF




Unit
-








Sub-Index
002




Description
FFBD Threshold[2]




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x0




Lower Limit
0x00




Upper Limit
0xFF




Unit
-






 



Object 2016h: Scatterlight threshold


Shadow parameter, for backward compatibility only


Object Description





INDEX
2016




Name
Scatterlight threshold




Object Code
Array




Data Type
UNSIGNED8




Category
Optional





Entry Description





Sub-Index
000




Description
Number of Entries




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x02




Lower Limit
0x00




Upper Limit
0xFF




Unit
-








Sub-Index
001




Description
Scatterlight threshold[1]




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x0




Lower Limit
0x00




Upper Limit
0xFF




Unit
-








Sub-Index
002




Description
Scatterlight threshold[2]




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x0




Lower Limit
0x00




Upper Limit
0xFF




Unit
-






 



Object 2017h: spare




Object Description





INDEX
2017




Name
spare




Object Code
Array




Data Type
UNSIGNED8




Category
Optional





Entry Description





Sub-Index
000




Description
Number of Entries




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x2




Lower Limit
0x00




Upper Limit
0xFF




Unit
-








Sub-Index
001




Description
reserved[1]




Entry Category
Optional




Access
RO




PDO Mapping
Yes




Default Value
0x00




Lower Limit
0x00




Upper Limit
0xFF




Unit
-








Sub-Index
002




Description
reserved[2]




Entry Category
Optional




Access
RO




PDO Mapping
Yes




Default Value
0x00




Lower Limit
0x00




Upper Limit
0xFF




Unit
-






 



Object 2019h: Stepper Motor software version


Dummy parameters, for backward compatibility only
There is no separate stepper motor program for this product


Object Description





INDEX
2019




Name
Stepper Motor software version




Object Code
Array




Data Type
UNSIGNED8




Category
Optional





Entry Description





Sub-Index
000




Description
Number of Entries




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x02




Lower Limit
0x00




Upper Limit
0xFF




Unit
-








Sub-Index
001




Description
SM software[1]




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x00




Lower Limit
0x00




Upper Limit
0xFF




Unit
-








Sub-Index
002




Description
SM software[2]




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x0




Lower Limit
0x00




Upper Limit
0xFF




Unit
-






 



Object 201Ah: FFS configuration


FFS configuration.
Bit 0 - Second Branch is installed
Bit 1 - Second Branch is installed as slave module
Bit 2 - Dip-switch 1, command mode 0: LCI, 1: CAN 
Bit 3 - Dip-switch 2, branches 0: 1/2, 1: 3/4
Bit 4 - First Branch is installed as variable energy share


Object Description





INDEX
201A




Name
FFS configuration




Object Code
Variable




Data Type
UNSIGNED8




Category
Optional





Entry Description





Access
RO




PDO Mapping
No




Default Value
0x1




Lower Limit
0x0




Upper Limit
0xFF




Unit
-






 



Object 201Bh: Read Angle




Object Description





INDEX
201B




Name
Read Angle




Object Code
Array




Data Type
INTEGER8




Category
Optional





Entry Description





Sub-Index
000




Description
Number of Entries




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x2




Lower Limit
0x00




Upper Limit
0xFF




Unit
-








Sub-Index
001




Description
Angle mirror[1]




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x00




Lower Limit
0xE8




Upper Limit
0x18




Unit
-








Sub-Index
002




Description
Angle mirror[2]




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x00




Lower Limit
0xE8




Upper Limit
0x18




Unit
-






 



Object 201Ch: CSE Board Status


Read Cse board status
subindex 3..5 are dummy lines for backward compatibility
HW support for var ES and alignment diode blocking is always present.
Rofin CAN protocol is not available for the new FFS


Object Description





INDEX
201C




Name
CSE Board Status




Object Code
Array




Data Type
UNSIGNED16




Category
Optional





Entry Description





Sub-Index
000




Description
Number of Entries




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x05




Lower Limit
0x00




Upper Limit
0xFF




Unit
-








Sub-Index
001




Description
Read EL Number




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x00




Lower Limit
0x00




Upper Limit
0xFFFF




Unit
-








Sub-Index
002




Description
CSE Hardware version




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x0




Lower Limit
0x0




Upper Limit
0xFFFF




Unit
-








Sub-Index
003




Description
HW Support for Variable Energy Sharing




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x1




Lower Limit
0x0




Upper Limit
0xFFFF




Unit
-








Sub-Index
004




Description
HW Support for Alignment Diode Blocking




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x1




Lower Limit
0x0




Upper Limit
0xFFFF




Unit
-








Sub-Index
005




Description
Rofin CAN protocol software version




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x0




Lower Limit
0x0




Upper Limit
0xFFFF




Unit
N/A  only for compatibility






 



Object 201Dh: FFBD 16 bit analog value




Object Description





INDEX
201D




Name
FFBD 16 bit analog value




Object Code
Array




Data Type
UNSIGNED16




Category
Optional





Entry Description





Sub-Index
000




Description
Number of Entries




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x02




Lower Limit
0x00




Upper Limit
0xFF




Unit
-








Sub-Index
001




Description
FFBD analog_16[1]




Entry Category
Optional




Access
RO




PDO Mapping
Yes




Default Value
0x0




Lower Limit
0x0




Upper Limit
0xFFFF




Unit
-








Sub-Index
002




Description
FFBD analog_16[2]




Entry Category
Optional




Access
RO




PDO Mapping
Yes




Default Value
0x0




Lower Limit
0x0




Upper Limit
0xFFFF




Unit
-






 



Object 201Eh: SCLD 16 bit analog value


Setting of individual break enable functions.
Bit = 0 means no influence on Laser permission
Bit = 1 means Laser Permission is affected

Bit 0: Humidity break enabled
Bit 1: 
Bit 2: SCLD break enabled
Bit 3: FFBD break enabled


Object Description





INDEX
201E




Name
SCLD 16 bit analog value




Object Code
Array




Data Type
UNSIGNED16




Category
Optional





Entry Description





Sub-Index
000




Description
Number of Entries




Entry Category
Optional




Access
RW




PDO Mapping
No




Default Value
0x02




Lower Limit
0x00




Upper Limit
0xFF




Unit
-








Sub-Index
001




Description
Scatterlight analog_16[1]




Entry Category
Optional




Access
RO




PDO Mapping
Yes




Default Value
0x00




Lower Limit
0x00




Upper Limit
0xFFFF




Unit
-








Sub-Index
002




Description
Scatterlight analog_16[2]




Entry Category
Optional




Access
RO




PDO Mapping
Yes




Default Value
0x00




Lower Limit
0x00




Upper Limit
0xFFFF




Unit
-






 



Object 2029h: Total_time


32 bit seconds counter,
shows number of seconds the FFS has been powered


Object Description





INDEX
2029




Name
Total_time




Object Code
Variable




Data Type
UNSIGNED32




Category
Optional





Entry Description





Access
RO




PDO Mapping
No




Default Value
0x0




Lower Limit
0x0




Upper Limit
0xFFFFFFFF




Unit
seconds






 



Object 202Ah: Process_time


32 bit process time counter,
shows number of seconds the FFS has detected Beam ON.


Object Description





INDEX
202A




Name
Process_time




Object Code
Variable




Data Type
UNSIGNED32




Category
Optional





Entry Description





Access
RO




PDO Mapping
No




Default Value
0x0




Lower Limit
0x0




Upper Limit
0xFFFFFFFF




Unit
seconds






 



Object 2030h: Status Thresholds


Status of individual sensors
TRUE = 1 if measured level < threshold level
FALSE =0 if measured level > threshold level

Bit 0: Humidity Status
Bit 1: 
Bit 2: SCLD Status
Bit 3: FFBD Status


Object Description





INDEX
2030




Name
Status Thresholds




Object Code
Array




Data Type
UNSIGNED8




Category
Optional





Entry Description





Sub-Index
000




Description
Number of Entries




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x02




Lower Limit
0x00




Upper Limit
0xFF




Unit
-








Sub-Index
001




Description
Status Thresholds[1]




Entry Category
Optional




Access
RO




PDO Mapping
Yes




Default Value
0x00




Lower Limit
0x00




Upper Limit
0xFF




Unit
-








Sub-Index
002




Description
Status Thresholds[2]




Entry Category
Optional




Access
RO




PDO Mapping
Yes




Default Value
0x00




Lower Limit
0x00




Upper Limit
0xFF




Unit
-






 



Object 2031h: Status Break Enable


Status of individual break enable functions. Mirrors 0x200E.

Bit = 0 means no influence on Laser permission
Bit = 1 means Laser Permission is affected

Bit 0: Humidity break enabled
Bit 1: 
Bit 2: SCLD break enabled
Bit 3: FFBD break enabled


Object Description





INDEX
2031




Name
Status Break Enable




Object Code
Array




Data Type
UNSIGNED8




Category
Optional





Entry Description





Sub-Index
000




Description
Number of Entries




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x02




Lower Limit
0x00




Upper Limit
0xFF




Unit
-








Sub-Index
001




Description
Status Break Enable[1]




Entry Category
Optional




Access
RO




PDO Mapping
Yes




Default Value
0x01




Lower Limit
0x00




Upper Limit
0xFF




Unit
-








Sub-Index
002




Description
Status Break Enable[2]




Entry Category
Optional




Access
RO




PDO Mapping
Yes




Default Value
0x01




Lower Limit
0x00




Upper Limit
0xFF




Unit
-






 



Object 2032h: QD_comm


CAN communication of external QD fiber, when connected

0: Branch disconnected, default
1: Branch always connected
2: Auto connect, when mirror is ON


Reverts to default at reset.


Object Description





INDEX
2032




Name
QD_comm




Object Code
Array




Data Type
UNSIGNED8




Category
Optional





Entry Description





Sub-Index
000




Description
Number of Entries




Entry Category
Optional




Access
RO




PDO Mapping
No




Default Value
0x02




Lower Limit
0x00




Upper Limit
0xFF




Unit
-








Sub-Index
001




Description
QD_enable[1]




Entry Category
Optional




Access
RW




PDO Mapping
No




Default Value
0x00




Lower Limit
0x00




Upper Limit
0xFF




Unit
-








Sub-Index
002




Description
QD_enable[2]




Entry Category
Optional




Access
RW




PDO Mapping
No




Default Value
0x00




Lower Limit
0x00




Upper Limit
0xFF




Unit
-






 



Object 2051h: Data_string


Read only.
String is written into fiber via boot loader
at manufacturing time


Object Description





INDEX
2051




Name
Data_string




Object Code
Variable




Data Type
VISIBLE_STRING




Category
Optional





Entry Description





Access
RO




PDO Mapping
No




Default Value
Optoskand dummy string for FFS2




Lower Limit
-




Upper Limit
-




Unit
-








 




This document was created using CANopen Design Tool of

port GmbH,
Regensburger Str. 7b, 06132 Halle, 03 May 2018