AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17 Page 3 of 60
4.4.3 Examples of SDO access........................................................................................19
4.5 Node monitoring ....................................................................................................20
4.5.1 Emergency Service (EMCY) ....................................................................................20
4.5.2 Node Guarding....................................................................................................21
4.5.3 Heartbeat ..........................................................................................................21
4.5.4 External heartbeat...............................................................................................22
4.5.5 Guarding Bit.......................................................................................................22
4.6 Auto-Functions ......................................................................................................22
4.6.1 Auto-Baud .........................................................................................................22
4.6.2 Auto-ID .............................................................................................................23
4.7 Directory of objects ................................................................................................25
4.7.1 Overview of objects .............................................................................................25
4.7.2 Description of objects..........................................................................................27
4.7.2.1 1000h: Device Type..........................................................................................27
4.7.2.2 1001h: Error Register .......................................................................................27
4.7.2.3 1002h: Manufacturer Status Register ..................................................................28
4.7.2.4 1003h: Pre-defined Error Field...........................................................................28
4.7.2.5 1005h: COB-ID SYNC message............................................................................29
4.7.2.6 1008h: Manufacturer Device Name .....................................................................29
4.7.2.7 1009h: Manufacturer Hardware Version ...............................................................30
4.7.2.8 100Ah: Manufacturer Software Version................................................................30
4.7.2.9 100Ch: Guard Time...........................................................................................30
4.7.2.10 100Dh: Life Time Factor....................................................................................31
4.7.2.11 1010h: Store Parameter....................................................................................31
4.7.2.12 1011h: Restore Parameter.................................................................................33
4.7.2.13 1014h: COB-ID Emergency Message ....................................................................35
4.7.2.14 1017h: Producer Heartbeat Time........................................................................36
4.7.2.15 1018h: Identity Object.....................................................................................36
4.7.2.16 1200h: Server SDO Parameter ............................................................................37
4.7.2.17 1400h: 1. Receive PDO Parameter ......................................................................38
4.7.2.18 1401h: 2. Receive PDO Parameter ......................................................................39
4.7.2.19 1600h: 1. Receive PDO Mapping Parameter..........................................................40
4.7.2.20 1601h: 2. Receive PDO Mapping Parameter..........................................................41
4.7.2.21 1800h: 1. Transmit PDO Parameter .....................................................................42
4.7.2.22 1801h: 2. Transmit PDO Parameter .....................................................................44
4.7.2.23 1A00h: 1. Transmit PDO Mapping Parameter ........................................................45
4.7.2.24 1A01h: 2. Transmit PDO Mapping Parameter ........................................................46
4.7.2.25 2003h: key actuation enable ........................................................................47
4.7.2.26 2004h: key actuation enable ........................................................................47
4.7.2.27 2005h: Configuration enable via keyboard and delay of start of configuration ..........48
4.7.2.28 5000h: Diagnosis of CAN bus errors ....................................................................49
4.7.2.29 5F09h: External Heartbeat timer and external Heartbeat source..............................49
4.7.2.30 5F0Ah: Node-ID, Auto-ID and Baud rate Bus CAN .................................................50
