HYDAC ELECTRONIC HAT 1000 Originalanleitung Seite 38

Protocol description HAT 1000 CANopen HAT 3000 CANopen
Contents
1 Introduction .................................................................................................................. 6
2 Functions of the HAT CANopen .................................................................................. 6
3 Transmission rates ...................................................................................................... 7
4 CAN Frames .................................................................................................................. 7
5 Node ID ......................................................................................................................... 7
6 Transmission services ................................................................................................. 7
6.1 Service Data Object (SDO) ......................................................................................... 7
6.2 Process Data Object (PDO) ........................................................................................ 8
6.3 Synchronisation Object (SYNC) .................................................................................. 9
6.4 Emergency Object (EMCY) ......................................................................................... 9
6.5 Heartbeat ...................................................................................................................10
6.6 Network Management Services (NMT) ......................................................................11
6.7 Boot Up Protocol ........................................................................................................11
7 Data flow in the HAT CANopen. ................................................................................12
7.1 Sensor Unit ................................................................................................................12
7.2 Calibration & Scaling .................................................................................................12
7.3 Transmission Unit ......................................................................................................12
8 The Object Dictionary .................................................................................................13
8.1 Set-up of the Object Dictionary ..................................................................................13
8.2 Structure of the device-specific part according to DS406 ...........................................13
9 Entries in the Object Dictionary .................................................................................14
9.1 Communication Profile Specific Entries (DS301) .......................................................14
9.1.1 Index 1000h: DeviceType (read only) ................................................................. 14
9.1.2 Index 1001h: ErrorRegister (read only) ............................................................... 14
9.1.3 Index 1002h: Manufacturer status register (read only) ........................................ 14
9.1.4 Index 1003h: Pre-defined error field (read only) .................................................. 14
9.1.5 Index 1005h: SyncMessageIdentifier (read write) ............................................... 14
9.1.6 Index 1008h: ManufacturerDeviceName (const) ................................................. 14
9.1.7 Index 1009h: ManufacturerHardwareVersion (const) .......................................... 14
9.1.8 Index 100Ah: ManufacturerSoftwareVersion (const) ........................................... 14
9.1.9 Index 1010h: StoreParameters ........................................................................... 14
9.1.10 Index 1011h: RestoreDefaultParameters ............................................................ 15
9.1.11 Index 1014h: CobIdEmergencyMessage (read write) ......................................... 16
9.1.12 Index 1017h: ProducerHeartbeatTime (read write) ............................................. 16
9.1.13 Index 1018h: IdentityObject ................................................................................ 16
9.1.14 Index 1029h: Error behaviour ............................................................................. 16
9.1.15 Index 1800h: TPDO communication parameter .................................................. 16
9.1.16 Index 1A00h: TPDO mapping parameter ............................................................ 17
9.1.17 Index 1F80h: NMT Startup (read / write) ............................................................. 18
Version 2019-09-04
HYDAC ELECTRONIC GMBH
Page 2
Part No. 670014