38 CANOPEN SLAVE M1. Technical Document. Epec Oy

Transcription

1 Technical Document Epec Oy

2 2 / 57 DOCUMENT VERSION HISTORY Date Notes Updated Sections 10.1 Protection and 11.1 Mounting Updated Sections h Write Output 8 bit and h-1807h Transmit PDO Communication Parameter First released version

3 3 / 57 TABLE OF CONTENTS 1 GENERAL Purpose of This Document Use of Symbols About Manufacturer Epec CAN Module Family Basic skills required Safety guidelines Warranty Limited liability Environmental statement References CANOPEN SLAVE UNIT GENERAL DESCRIPTION Software Description INPUT / OUTPUT SPECIFICATIONS I/O Amounts Closed Loops Wiring AMPSEAL Connectors AMPSEAL Cable Dimensions COMMUNICATION PROFILE OBJECTS h Device Type h Error Register h Pre-defined Error Field h COB-ID SYNC message h Manufacturer Device Name h Manufacturer Hardware Version Ah Manufacturer Software Version h Store Parameters h Restore Default Parameters h COB-ID EMCY h Inhibit Time EMCY h Consumer Heartbeat Time h Producer Heartbeat Time h Identity Object h Server SDO Parameter PDOs h-1402h Receive PDO Communication Parameter h-1602h Receive Parameter h-1807h Transmit PDO Communication Parameter A00h-1A07h Transmit Parameter MANUFACTURER SPECIFIC PROFILE AREA h Communication Parameters h Configuration of AI type h PWM Frequency h Pulse Input Configuration STANDARDISED DEVICE PROFILE Digital Inputs h Read Input 8 bit... 31

4 4 / h Polarity Input 8 bit Digital Outputs h Write Output 8 bit h Change Polarity Output 8 bit h Error Mode Output 8 bit h Error Value Output 8 bit Analogue Inputs h Read Analogue Input 16 bit h Analogue Input Global Interrupt Enable Eh Analogue Input Offset Float Fh Analogue Input Pre-Scaling Float Analogue Output h Write Analogue Output 16 bit Analogue Output Set-ups h Analogue Output Error Mode h Analogue Output Error Value Integer POWER SUPPLY Overvoltage Power Consumption Power Supply Pins I/O CHARACTERISTICS DI/DO/PWM DI/DO/PWM/PI FB DI/PI AI/DI DI/DO BUS CONNECTIONS Bus Connection Pins CAN Interface ENVIRONMENTAL CHARACTERS Protection EMC Tests Environmental Tests HOUSING Mounting Unit Dimensions ADDITIONAL DOCUMENTS TERMINOLOGY & ABBREVIATIONS... 57

5 5 / 57 1 GENERAL 1.1 Purpose of This Document This technical document is meant to be used in system development. This document contains necessary data concerning the unit in question, which system designer needs in system development work. Copying of this document without permission is prohibited. All trademarks mentioned in this document are owned by their manufacturers. 1.2 Use of Symbols This manual uses the following icons to point out important information or safety-related issues: The (electrical) warning icon indicates a hazard which could cause an electrical danger and/or a personal injury. The caution icon indicates very important information or a warning. If the advices are ignored, it can result in personal injury or damage to software or equipment. The information icon indicates important information and issues to be noted for the reader. 1.3 About Manufacturer Epec Oy helps its customers to manufacture efficient, safe and environmental friendly mobile working machines and special vehicles which help their customers to maximise their productivity. Epec is a solution provider specialized in embedded control systems, vehicle computers and information logistics systems for mobile machines. We believe that we know control systems for challenging conditions and we are able to offer a total solution from control units to project services and designing. 1.4 Epec CAN Module Family Epec CAN Module Family is designed to operate in extreme environments, where vibration, wide temperature changes and moisture are normal conditions. The requirements for the system s reliability and safety have been the key words in module family development. A small and protective module casing keeps inside high performance microcontroller with lots of control capabilities.

6 6 / Basic skills required The user of this document must have professional skills on machine controlling and CAN communication. Please refer CAN and CANopen documentation from CAN in Automation (CiA) for further information on communication issues. 1.6 Safety guidelines The user of this documentation should follow general machine safety guidelines, directives and regulation appropriate to his/her country or market area. This product does not comply with SIL2 or SIL3 classifications and should not be used in such applications, e.g. lifting people, where SIL 2 or SIL3 are required by directives or other regulations. A separate safety analysis is always recommended for the machine and its control system. The features of this product should be well documented in machine and control system documents so that the machine operator has the right information how to operate the machine correctly and safely. This product is designed to be used only for machine controlling purposes. The manufacturer does not assume any responsibility for this product being fit for any particular application, unless otherwise expressly stated in writing by the manufacturer. This product complies with those certifications and standards that are listed below. The manufacturer does not guarantee that this product complies any other certification, standard or test than listed below. This product is not field serviceable, so it should not be opened at any situation. An external fuse should be installed for the product or the system power supply. The system should be designed and constructed according to the Epec general mounting and cabling instruction document. Epec Oy reserves a right to improve its products without a further notice. 1.7 Warranty The manufacturer does not assume any responsibility for the products being fit for any particular purpose, unless otherwise expressly stated in writing by the manufacturer. The manufacturer gives the warranty of twelve (12) months to the products and thereto related firmware from commissioning or eighteen (18) months from the date of delivery of the products which ever occurs first The manufacturer is during the warranty period responsible for defects in the products and thereto related firmware resulting from faults in material, design or workmanship. The manufacturer s only obligation under this warranty is to, at its sole discretion, either to replace the products and/or thereto related firmware or to repair the defective products. The manufacturer shall, at its sole option, repair the products at its manufactory in Seinäjoki, Finland. The warranty does not cover any costs related to removing or fastening of devices related to the products. Neither does the warranty cover the expenses of sending devices to or from the

7 7 / 57 manufacturer for repairs. The warranty does not cover possible expenses relating to travelling, accommodation, daily benefits, etc. of installers. The warranty becomes null and void if the buyer and/or a third party alters the products or the firmware in any way or if they are not used in accordance with the Manufacturer s operating instructions. All claims with respect to defects in the products shall be made to the manufacturer without delay and no later than on the seventh (7th) day after the defect has been or should have been discovered by the buyer. The manufacturer strives to reply to the claim in writing within two (2) weeks from the receipt of the claim. The buyer shall attach to the claim a possible error report or equivalent explanation of the grounds for the claim. The manufacturer gives no other warranties whatsoever for the products than the warranty set out in this section and thus the warranty given in this section sets forth the warranty given by the manufacturer in its entirety. 1.8 Limited liability The manufacturer shall under no circumstances be liable for loss of production, loss of profit, loss of use or any other consequential damages and/or indirect losses, whatever their cause may be. In case claims based on product liability are brought against the Manufacturer for which claims the manufacturer may be liable, the manufacturer s liability is limited to the extent normally covered under normal product liability insurances. The buyer shall compensate the manufacturer to the extent that the manufacturer might be liable to pay damages as a result of claims based on product liability according to paragraph above. 1.9 Environmental statement The manufacturer uses ISO14001 environmental certified processes and materials to manufacture products. The manufacturer undertakes to arrange for the recycling and scrapping of the products that are returned to the manufacturer by the buyer and/or the products that are received by the Manufacturer in connection with maintenance services performed as a result of that repairing of the products is deemed by the manufacturer to be inappropriate. The manufacturer will charge a scrapping fee from the buyer according to the manufacturer's price list in force from time to time. No scrapping fee will, however, be charged for products that are received by the manufacturer during the warranty period References [1] CiA DS301: Application Layer and Communication Profile [2] CiA DS401: Device Profile for Generic I/O Modules

8 8 / 57 2 CANOPEN SLAVE UNIT GENERAL DESCRIPTION 38 CANopen Slave M1 is part of the Epec CAN Module Family. Module is equipped with several input and output pins such as PWM outputs for proportional controls and some feedback inputs for better accuracy of proportional controls. Versatile analogue inputs can be used for example for joystick connection and pulse inputs for frequency measuring or for pulse counting. In addition, the module has some digital inputs and outputs for digital controlling. The unit has one CAN bus. Features ISO High Speed CAN interface, CANopen compatible Based on standards CiA DS301: Application Layer and Communication Profile and CiA DS401: Device Profile for Generic I/O Modules CANopen slave Communication interface CAN1 Operating voltage VDC Recommended operating voltage 24 VDC Operating temperature -40 ºC +70 ºC Storage temperature -50 ºC +85 ºC Protection IP67 (classification according to IEC 60529) Overheating and short-circuit protection for outputs Overload protection for outputs Gold plated, locked and sealed connectors: 8-pin AMPSEAL for module connection 23-pin AMPSEAL for I/O Small outline dimensions: 147,5 x 63 x 53 mm Weight 0,5 kg Applications Forest Machines Road Maintenance Construction Machines Crushing Stations Industrial Machines Agricultural applications Automation applications Mining Machines Monitoring Functions Following issues can be monitored by the application Heartbeat monitoring RPDO event time monitoring Low voltage (12 V) /High voltage (30 V) monitoring Bus-passive monitoring Bus-off monitoring Software deadlock is monitored by the hardware watchdog that reboots the module automatically after 300 ms software deadlock. Do not use DO and PWM at the same time with the same pin in any case. After flash operations, wait for the module s SDO response before shutting the power down to protect the flash from possible corruption. If the module is shut down before the SDO response, send a restore command to the module to continue normal operation.

9 9 / Software Description The software runs in an infinite loop. At the beginning of each loop, the PDOs are received and at the end of each loop, the PDOs are sent. The cycle time varies according to PI and PWM load, minimum cycle time is 6 ms.

10 10 / 57 3 INPUT / OUTPUT SPECIFICATIONS 38 CANopen Slave M1 contains inputs and outputs or, in other words, I/O pins of different types. There are, for example, outputs which source current and outputs which sink current. Furthermore, there are I/O pins which can be used as inputs or as outputs. 3.1 I/O Amounts Max Amount DI PI AI PWM DO Pulse Current Digital Pulse Analog Width Measuring Output Input Input Modulation Feedback (sourcing) Capability Digital Input Digital Output (sinking) 2 X X X 4 X X X X 4 X X 3 X (current controlled) X 6 X X 1 X X The usage of each I/O pin is determined by the application. 3.2 Closed Loops Wiring It is strongly recommended to use closed loops for connecting all sensors, actuators etc. devices to I/O modules. Closed loops wiring can be achieved by connecting the GND wire from the sensor, actuator etc. device into the GND pin of module connector. If it is not possible to use closed loops, use DI/PI pins or DI/AI pins instead. 3.3 AMPSEAL Connectors Epec uses gold plated, locked and sealed AMPSEAL heavy duty connectors for all Epec CAN Module Family products to ensure the endurance of extreme conditions. 8-pin AMPSEAL for power and system CAN connections 23-pin AMPSEAL for I/Os All connectors are mechanically keyed to mate only with identical colours AMPSEAL connector AMP 23-pin grey plug (female) AMP 23-pin black plug (female) AMP 23-pin blue plug (female) AMP 8-pin black plug (female) Epec ordering code KX0007 KX0008 KX0009 KX0187

11 11 / AMPSEAL Cable Dimensions Size Insulation diameter range mm 2 AWG Strip length ±0,4 0,5 20 1,7 5,1 0,8 18 to 5,1 1,4 16 2,7 5,1 Typical hand crimping tool e.g.: AMP Procrimper , Epec ordering code TT0018 All applied cables should be properly shielded, bundled and grounded See the General Mounting and Cabling Instructions for Epec Modules for more detailed information about the cabling

12 12 / 57 4 COMMUNICATION PROFILE OBJECTS Index Sub- Description Index Type Acc Object Default 1000h Device type UNSIGNED32 RO VAR 000F0191h 1001h Error register UNSIGNED8 RO VAR 0 Pre-defined error field ARRAY 0 Number of errors UNSIGNED8 RW h 1 Standard error field UNSIGNED32 RO 0 2 Standard error field UNSIGNED32 RO 0 50 Standard error field UNSIGNED32 RO h COB-ID SYNC UNSIGNED32 RO VAR 80h 1008h Manufacturer device name Vis-String RO VAR 38 CANopen Slave M1 1009h Manufacturer hardware version Vis-String RO VAR 38 M1 100Ah Manufacturer software version Vis-String RO VAR 1.0 Store Parameters ARRAY 0 Largest sub-index supported UNSIGNED8 RO 4 1 Save all parameters UNSIGNED32 RW h 2 Save communication parameters UNSIGNED32 RW 1 3 Save application parameters UNSIGNED32 RW 1 4 Save manufacturer defined parameters UNSIGNED32 RW 1 Restore Default Parameters ARRAY 0 Largest sub-index supported UNSIGNED8 RO 4 1 Restore all default parameters UNSIGNED32 RW h Restore communication 2 default parameters UNSIGNED32 RW 1 3 Restore application default parameters UNSIGNED32 RW 1 4 Restore manufacturer defined default UNSIGNED32 RW 1 parameters 1014h COB-ID emergency message UNSIGNED32 RO VAR 80h +NodeID 1015h Inhibit Time EMCY UNSIGNED16 RW VAR h Consumer heartbeat time ARRAY 0 Largest subindex supported UNSIGNED8 RO 4 1 Consumer heartbeat time UNSIGNED32 RW 0 2 Consumer heartbeat time UNSIGNED32 RW 0 3 Consumer heartbeat time UNSIGNED32 RW 0 4 Consumer heartbeat time UNSIGNED32 RW h Producer Heartbeat Time UNSIGNED16 RW 0 Identity Object IDENTITY RO RECORD 0 Number of entries UNSIGNED8 RO h 1 Vendor ID UNSIGNED32 RO 30h 2 Product code UNSIGNED32 RO 7F6h 3 Revision number UNSIGNED32 RO 133h 4 Serial number UNSIGNED32 RO

13 13 / h 1400h 1401h 1402h 1600h 1601h 1602h 1800h Server SDO Parameter SDO PARAMETER RECORD 0 Number of supported entries UNSIGNED8 RO 2 1 COB-ID client server UNSIGNED32 RO 600h + NodeID 2 COB-ID server client UNSIGNED32 RO 580h + NodeID Receive PDO 1 PDO Parameter COMMPAR RECORD Digital outputs 0 Number of supported entries UNSIGNED8 RO 2 1 COB-ID used by PDO UNSIGNED32 RW h + NodeID 2 Transmission type UNSIGNED8 RW Inhibit time UNSIGNED16 RW 0 4 Reserved UNSIGNED8 RW 5 Event timer UNSIGNED16 RW 0 Receive PDO 2 PDO Communication COMMPAR Parameter RECORD Analogue outputs 0 Largest sub-index supported UNSIGNED8 RO 5 1 COB-ID used by PDO UNSIGNED32 RW h + NodeID 2 Transmission type UNSIGNED8 RW Inhibit time UNSIGNED16 RW 0 4 Reserved UNSIGNED8 RW 5 Event timer UNSIGNED16 RW 0 Receive PDO 3 Communication Parameter PDO COMMPAR RECORD Analogue outputs 0 Largest sub-index supported UNSIGNED8 RO 5 1 COB-ID used by PDO UNSIGNED32 RW h + NodeID 2 Transmission type UNSIGNED8 RW Inhibit time UNSIGNED16 RW 0 4 Reserved UNSIGNED8 RW 5 Event timer UNSIGNED16 RW 0 Receive PDO MAPPING Parameter RECORD Digital outputs 0 Number of mapped objects in PDO UNSIGNED8 RW st object to be mapped UNSIGNED32 RW h Receive PDO 2 Mapping PDO MAPPING Parameter RECORD Analogue outputs 0 Number of mapped objects UNSIGNED8 RW 4 1 Write analogue output 1h UNSIGNED32 RW h 2 Write analogue output 2h UNSIGNED32 RW h 3 Write analogue output 3h UNSIGNED32 RW h 4 Write analogue output 4h UNSIGNED32 RW h Receive PDO 3 Mapping PDO MAPPING Parameter RECORD 0 Number of mapped objects UNSIGNED8 RW 4 1 Write analogue output 1h UNSIGNED32 RW h 2 Write analogue output 2h UNSIGNED32 RW h 3 Write analogue output 3h UNSIGNED32 RW h 4 Write analogue output 4h UNSIGNED32 RW h Transmit PDO Communication Parameter PDO COMMPAR RECORD Analogue outputs Digital inputs 0 Number of supported entries UNSIGNED8 RO 5 1 COB-ID used by PDO UNSIGNED32 RO h + NodeID 2 Transmission type UNSIGNED8 RW 255

14 14 / h 1802h 1803h 1804h 1805h 1806h 3 Inhibit time UNSIGNED16 RW 0 4 Reserved UNSIGNED8 RW 5 Event timer UNSIGNED16 RW 0 Transmit PDO 2 Communication Parameter PDO COMMPAR RECORD Analogue inputs 0 Largest sub-index supported UNSIGNED8 RO 5 1 COB-ID used by PDO UNSIGNED32 RW h + NodeID 2 Transmission type UNSIGNED8 RW Inhibit time UNSIGNED16 RW 0 4 Reserved RW 5 Event timer UNSIGNED16 RW 0 Transmit PDO3 Communication Parameter PDO COMMPAR RECORD Analogue inputs 0 Largest sub-index supported UNSIGNED8 RO 5 1 COB-ID used by PDO UNSIGNED32 RW h + NodeID 2 Transmission type UNSIGNED8 RW Inhibit time UNSIGNED16 RW 0 4 Reserved RW 5 Event timer UNSIGNED16 RW 0 Transmit PDO4 Communication Parameter PDO COMMPAR RECORD Analogue inputs 0 Largest sub-index supported UNSIGNED8 RO 5 1 COB-ID used by PDO UNSIGNED32 RW h + NodeID 2 Transmission type UNSIGNED8 RW Inhibit time UNSIGNED16 RW 0 4 Reserved RW 5 Event timer UNSIGNED16 RW 0 Transmit PDO5 Communication Parameter PDO COMMPAR RECORD 0 Largest sub-index supported UNSIGNED8 RO 5 1 COB-ID used by PDO UNSIGNED32 RW C00001A0h + NodeID 2 Transmission type UNSIGNED8 RW Inhibit time UNSIGNED16 RW 0 4 Reserved RW 5 Event timer UNSIGNED16 RW 0 Transmit PDO6 Communication Parameter PDO COMMPAR RECORD 0 Largest sub-index supported UNSIGNED8 RO 1 COB-ID used by PDO UNSIGNED32 RW C00002A0h + NodeID 2 Transmission type UNSIGNED8 RW Inhibit time UNSIGNED16 RW 0 4 Reserved RW 5 Event timer UNSIGNED16 RW 0 Transmit PDO7 Communication Parameter PDO COMMPAR RECORD 0 Largest sub-index supported UNSIGNED8 RO 1 COB-ID used by PDO UNSIGNED32 RW C00003A0h + NodeID 2 Transmission type UNSIGNED8 RW Inhibit time UNSIGNED16 RW 0 4 Reserved RW 5 Event timer UNSIGNED16 RW 0

15 15 / h 1A00h 1A01h 1A02h 1A03h 1A04h 1A05h 1A06h 0 Transmit PDO8 Communication Parameter Largest sub-index PDO COMMPAR UNSIGNED8 RECORD supported 1 COB-ID used by PDO UNSIGNED32 RW C00004A0h + NodeID 2 Transmission type UNSIGNED8 RW Inhibit time UNSIGNED16 RW 0 4 Reserved RW 5 Event timer UNSIGNED16 RW 0 Transmit RECORD PDO MAPPING Parameter 0 Number of mapped objects in PDO UNSIGNED8 RW st object to be mapped UNSIGNED32 RW h 2 2 nd object to be mapped UNSIGNED32 RW h 3 3 rd object to be mapped UNSIGNED h 4 4 th object to be mapped UNSIGNED32 RW h Transmit PDO 2 Mapping Parameter PDO MAPPING RECORD Analogue inputs 0 Number of mapped objects UNSIGNED8 RW 4 1 Read analogue input 1h UNSIGNED32 RW h 2 Read analogue input 2h UNSIGNED32 RW h 3 Read analogue input 3h UNSIGNED32 RW h 4 Read analogue input 4h UNSIGNED32 RW h Transmit PDO 3 Mapping Parameter PDO MAPPING RECORD Analogue inputs 0 Number of mapped objects UNSIGNED8 RW 4 1 Read analogue input 5h UNSIGNED32 RW h 2 Read analogue input 6h UNSIGNED32 RW h 3 Read analogue input 7h UNSIGNED32 RW h 4 Read analogue input 8h UNSIGNED32 RW h Transmit PDO 4 Mapping Parameter PDO MAPPING RECORD Analogue inputs 0 number of mapped objects UNSIGNED8 RW 4 1 Read analogue input 9h UNSIGNED32 RW h 2 Read analogue input Ah UNSIGNED32 RW A 10h 3 Read analogue input Bh UNSIGNED32 RW B 10h 4 Read analogue input Ch UNSIGNED32 RW C 10h Transmit PDO 4 Mapping Parameter PDO MAPPING RECORD Analogue inputs 0 number of mapped objects UNSIGNED8 RW 4 1 Read analogue input Dh UNSIGNED32 RW D 10h 2 Read analogue input Eh UNSIGNED32 RW E 10h 3 Read analogue input Fh UNSIGNED32 RW F 10h 4 Read analogue input 10h UNSIGNED32 RW h Transmit PDO 4 Mapping Parameter PDO MAPPING RECORD Analogue inputs 0 Number of mapped objects UNSIGNED8 RW 4 1 Read analogue input 11h UNSIGNED32 RW h 2 Read analogue input 12h UNSIGNED32 RW h 3 Read analogue input 13h UNSIGNED32 RW h 4 Read analogue input 14h UNSIGNED32 RW h Transmit PDO 4 Mapping Parameter PDO MAPPING RECORD Analogue inputs 0 number of mapped objects UNSIGNED8 RW 4 1 Read analogue input 15h UNSIGNED32 RW h RO

16 16 / 57 1A07h 2 Read analogue input 16h UNSIGNED32 RW h 3 Read analogue input 17h UNSIGNED32 RW h 4 Read analogue input 18h UNSIGNED32 RW h Transmit PDO 4 Mapping Parameter PDO MAPPING RECORD Analogue inputs 0 Number of mapped RW UNSIGNED8 objects 4 1 Read analogue input 19h UNSIGNED32 RW h 2 Read analogue input 1Ah UNSIGNED32 RW A 10h 3 Read analogue input 1Bh UNSIGNED32 RW B 10h 4 Read analogue input 1Ch UNSIGNED32 RW C 10h h Device Type This object describes the implemented device type and its functionality. Data Type Access Default Value VAR UNSIGNED32 RO No 0xF0191 Structure: Byte: MSB LSB Additional Information Device Profile Number h Error Register This object shows the error status of the unit. If an error occurs, bit gets the value 1. Errors are signalled with an EMCY message as soon as they occur. VAR Data Type UNSIGNED8 Access RO No Default Value 0 Structure: Bit Meaning 0 Generic error 1 Current 2 Voltage 3 Temperature 4 Communication error (overrun, error state) 5 Device profile specific 6 Reserved (always 0) 7 Manufacturer specific

17 17 / h Pre-defined Error Field This object stores the errors that have been reported via EMCY object. Sub-index 0 registers the number of stored errors. Every new error is stored in sub-index 1 and the older ones are moved down the list. If consecutive messages are the same, they are only counted once. Error history is deleted by writing 0 to sub-index 1. When the error is corrected, the code of the error is removed from the list. Object can store maximum of 50 errors. ARRAY No Structure: Byte: MSB LSB Additional Information Error Code Supported EMCYs: 3220h: Internal voltage too low 3210h: Internal voltage too high 8120h: CAN bus passive error 8140h: Recovered from CAN bus-off error 8130h: Life guard error or heartbeat error 8250h: RPDO not received in time interval h COB-ID SYNC message This object defines the COB-ID used by the SYNC and whether or not the device generates the SYNC. Data Type Access Default Value VAR UNSIGNED32 RO No 80h + Node-ID Bit number Value Meaning 31 (MSB) X Do not care Device does not generate SYNC message Device generates SYNC message bit ID (CAN 2.0A) 29-bit ID (CAN 2.0B, not supported) X if bit 29=0 if bit 29=1: bits of 29-bit-SYNC-COB-ID 10-0 (LSB) X bits 10-0 of SYNC-COB-ID

18 18 / h Manufacturer Device Name Manufacturer device name is defined in this object. Data Type Access Default Value VAR Visible String RO No 38 CANopen Slave M h Manufacturer Hardware Version Manufacturer hardware version is defined in this object. Data Type Access Default Value VAR Visible String RO No 38 M Ah Manufacturer Software Version Manufacturer software version is defined in this object. VAR Data Type Visible String Access RO No Default Value 1.0

19 19 / h Store Parameters The configurations made in the object directory are saved in the flash-memory by using this object. Sub-index 1 saves the complete object dictionary, sub-index 2 saves the communication objects (1000h-1FFFh), sub-index 3 saves the application parameters and sub-indexes 0-4 save manufacturer defined parameters 2000h-5FFFh. ARRAY No Storage write access signature: Signature MSB LSB ISO 8859 ( ASCII ) e v a s Hex 65h 76h 61h 73h Sub-Indexes: Sub- Index Description Access Data type Default 0h Largest sub-index supported RO UNSIGNED8 4 1h Saves all parameters (ie. includes 2h, 3h,4h) RW UNSIGNED32 1 2h Saves communication parameters (1000h-1FFFh) Does not save: 1008h 1009h 100Ah RW UNSIGNED h 1011h 1018h 1200h 3h Saves application parameters (6000h-7FFFh) Does not save: 6200h RW UNSIGNED h 6401h 6411h 4h Saves manufacturer defined parameters (2000h-5FFFh) RW UNSIGNED32 1

20 20 / h Restore Default Parameters The default parameter values can be restored using this object. ARRAY No Restoring write access signature: Signature MSB LSB ASCII d a o l Hex 64h 61h 6Fh 6Ch Sub- Index Description Access Data type Default 0h Largest sub-index supported RO UNSIGNED8 4 1h Restores all parameters (ie. includes 2h, 3h,4h) RW UNSIGNED32 1 2h Restores communication parameters (1000h-1FFFh) RW UNSIGNED32 1 3h Restores application parameters ( 6000h- 7FFFh) RW UNSIGNED32 1 4h Restores manufacturer defined parameters (2000h-5FFF) RW UNSIGNED h COB-ID EMCY This object indicates the capability of transmitting emergency messages. Data Type Access Default VAR UNSIGNED32 RO No 80h+NodeID h Inhibit Time EMCY The inhibit time for emergency messages is set in this object. Setting the inhibit time prevents blocking the bus with too many emergency messages. VAR Data Type UNSIGNED16 Access RW No Default 0 Note The time is multiple of 100 μs.

21 21 / h Consumer Heartbeat Time The consumer heartbeat time is defined in this object. The heartbeat consumer monitors received heartbeats and if one is not received within the set consumer heartbeat time, an EMCY will be generated. If the consumer heartbeat is set to 0, the unit does not monitor consumer heartbeat. The indexes are read starting from 1 until value 0 is found. Value 0 terminates the reading. ARRAY No Structure: MSB LSB Bits Value Reserved Node-ID Heartbeat time (value: 00h) Encoded as - UNSIGNED8 UNSIGNED h Producer Heartbeat Time This object defines the producer heartbeat time. Heartbeat producer transmits heartbeat messages with the frequency defined in this object. The heartbeat is received by one or more heartbeat consumer(s). VAR Data Type UNSIGNED16 Access RW No Default 0 Note The time is multiple of 1 ms h Identity Object This object contains general information about the device that is present on the network. RECORD No Sub- Index Description Access Data Type Default 0h Number of supported entries RO UNSIGNED8 4 1h Consumer heartbeat time RW UNSIGNED32 0 2h Consumer heartbeat time RW UNSIGNED32 0 3h Consumer heartbeat time RW UNSIGNED32 0 4h Consumer heartbeat time RW UNSIGNED32 0 Sub- Index Description Access Data Type Default 0h Number of supported entries RO UNSIGNED8 4 1h Vendor-ID RO UNSIGNED32 30h 2h Product code RO UNSIGNED32 7F6h 3h Revision number RO UNSIGNED32 133h 4h Serial number RO UNSIGNED32

22 22 / h Server SDO Parameter The information for configuring an SDO for the CANopen communication is defined in this object. RECORD No Sub- Index Description Access Data Type Default 0h Number of supported entries RO UNSIGNED8 2 1h COB-ID client server RO UNSIGNED32 600h+NodeID 2h COB-ID server client RO UNSIGNED32 580h+NodeID

23 23 / PDOs Process Data Objects, knowns as PDOs, are used for transmitting and receiving data in the network. PDOs have higher priority than SDOs because SDOs are used for configuration purpose while PDOs are used for the data communication required for the device operation. There are two types of PDOs: transmit PDOs that send data to the bus and receive PDOs that receive and process data from the bus. Default values for the PDOs are: RPDO COBID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte h+NodeID h 2 300h+NodeID h h h h 3 400h+NodeID h h h h TPDO COBID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte h+NodeID h h h h 2 280h+NodeID h h h h 3 380h+NodeID h h h h 4 480h+NodeID h 64010A10h 64010B10h 64010C10h 5 1A0h+NodeID 64010D10h 64010E10h 64010F10h h 6 2A0h+NodeID h h h h 7 3A0h+NodeID h h h h 8 4A0h+NodeID h 64011A10h 64011B10h 64011C10h DO bit0: X1.18 bit1: X1.20 bit2: X1.01 bit3: X1.03 bit4: X1.04 bit5: X1.07 bit6: X1.08 bit7: X1.09 AO subindex 1: X1.10 subindex 2: X1.17 subindex 3: X1.20 subindex 4: X1.21 subindex 5: X1.22 subindex 6: X1.23 subindex 7: X1.02 subindex 8: X1.05 subindex 9: X1.06 (Grey coloured: pins not connected) DI subindex 1: bit0-4: not connected bit 5: X1.07 bit 6: X1.01 bit 7: X1.18 subindex 2: bit0: X1.11 bit1: X1.12 bit2: X1.13 bit3: X1.14 bit4: X1.09 bit5: X1.04 bit6: X1.03 bit7: X1.08 subindex 3: bit0: X1.10 bit1: X1.17 bit2: X1.20 bit3: X1.21 bit4: X1.22 bit5: X1.23 bit6: X1.02 bit7: X1.05 subindex 4: bit0: X1.06 AI subindex 1: AI_X1.10 subindex 2: AI_X1.17 subindex 3: AI_X1.20 subindex 4: AI_X1.21 subindex 5: AI_X1.22 subindex 6: AI_X1.23 subindex 7: AI_X1.02 subindex 8: AI_X1.05 subindex 9: AI_X1.06 subindex A: AI_Temperature subindex B: AI_Supply subindex C: AI_Ref X1.16 subindex D: FI_X1.11 subindex E: FI_X1.12 subindex F: FI_X1.13 subindex 10: FI_X1.14 subindex 11: FI_X1.09 subindex 12: FI_X1.04 subindex 13: FI_X1.03 subindex 14: FI_X1.08 subindex 15: PI_X1.11 subindex 16: PI_X1.12 subindex 17: PI_X1.13 subindex 18: PI_X1.14 subindex 19: PI_X1.09 subindex 1A: PI_X1.04 subindex 1B: PI_X1.03 subindex 1C: PI_X1.08 If there are no PDOs that include analogue inputs transmitted to the bus, switch on the bit in index 6423h. See chapter h Analogue Input Global Interrupt Enable.

24 24 / h-1402h Receive PDO Communication Parameter RPDOs receive the data sent by other devices to the CANopen network. RECORD Yes h-1602h Receive Parameter The objects that are mapped for available receive PDOs, are indicated in this object. RECORD Yes Structure: Byte: MSB LSB Index (16bit) Sub-Index Object length (8bit) (8bit) Sub- Index Description Access Data Type Default 0h Number of supported RO UNSIGNED8 5 entries in the record 1h COB-ID RO UNSIGNED h: h+NodeID 1401h: h+NodeID 1402h: h+NodeID 2h Transmission type RW UNSIGNED h Inhibit time RW UNSIGNED16 0 4h Reserved RW UNSIGNED8 5h Event timer RW UNSIGNED16 0 Sub- Index Description Access Data Type 0h Number of mapped objects in PDO RO UNSIGNED8 1h 1 st object to be mapped RO UNSIGNED32 2h 2 nd object to be mapped RO UNSIGNED32 3h 3 rd object to be mapped RO UNSIGNED32 4h 4 th object to be mapped RO UNSIGNED32 Defaults: 1600h 1601h 1602h Sub Sub h h h Sub2 n/a h h Sub3 n/a h h Sub4 n/a h h

25 25 / h-1807h Transmit PDO Communication Parameter The transmit PDO communication parameters correspond to the transmit PDOs. Manufacturer specific transmission type FE is transmitted according to event timer, if 6432h = 0. If 6432h = 1, the manufacturer specific transmission type FE is transmitted after a change or according to event timer. RECORD Yes Description Access Data Type 0h Number of supported entries in the record RO UNSIGNED8 1h COB-ID RW UNSIGNED32 2h Transmission type RW UNSIGNED8 3h Inhibit time RW UNSIGNED16 4h Reserved RW UNSIGNED8 5h Event timer RW UNSIGNED16 Defaults: 1800h 1801h 1802h 1803h 1804h 1805h 1806h 1807h Sub Sub h + NodeID h + NodeID h + NodeID h + NodeID C00001A0h + NodeID C00002A0h + NodeID C00003A0h + NodeID Sub Sub Sub4 Sub C00004A0h + NodeID A00h-1A07h Transmit Parameter The objects that are mapped for available transmit PDOs, are indicated in this object. RECORD Yes Structure: Byte: MSB LSB Index (16bit) Sub-Index Object length (8bit) (8bit) Sub- Index Sub- Index Description Access Data Type 0h Number of mapped objects in PDO RW UNSIGNED8 1h 1 st object to be mapped RW UNSIGNED32 2h 2 nd object to be mapped RW UNSIGNED32 3h 3 rd object to be mapped RW UNSIGNED32 4h 4 th object to be mapped RW UNSIGNED32 Defaults: 1A00h 1A01h 1A02h 1A03h 1A04h 1A05h 1A06h 1A07h Sub Sub h h h h 64010D10h h h h Sub h h h 64010A10h 64010E10h h h 64011A10h Sub h h h 64010B10h 64010F10h h h 64011B10h Sub h h h 64010C10h h h h 64011C10h

26 26 / 57 5 MANUFACTURER SPECIFIC PROFILE AREA In order to store the newly set configuration of PWM frequency in non-volatile memory, the parameters storing operation must be executed using Object 1010h. The manufacturer can define the indexes 2000h-5FFFh including the type and the function for each object. Epec CANopen Slave Unit has the following indexes implemented: h Communication Parameters Epec specific parameter index. ARRAY No Index Subindex Name Data Type Acc Object Default Comment 2003h Communication UNSIGNED8 RW ARRAY 0 Number of entries UNSIGNED8 RO 4 1 Node-ID UNSIGNED8 RW Reserved UNSIGNED8 RO 4 Bit rate UNSIGNED8 RW 250 Supported bit rates: 50, 125, 250, 500, h Configuration of AI UNSIGNED8 RW VAR 0 type 2502h PWM frequency ARRAY 0 Number of entries UNSIGNED8 RO 1 PWM Group1 INTEGER16 RW 140 X1.08, X PWM Group2 INTEGER16 RW 140 X PWM Group3 INTEGER16 RW 140 X PWM Group4 INTEGER16 RW 140 X PWM Group5 INTEGER16 RW 140 X h Pulse input ARRAY configuration 0 Number of entries UNSIGNED8 RO 1 Channel0 UNSIGNED8 RW 0 X Channel1 UNSIGNED8 RW 1 X Channel2 UNSIGNED8 RW 2 X Channel3 UNSIGNED8 RW 3 X Channel4 UNSIGNED8 RW 4 X1.9 6 Channel5 UNSIGNED8 RW 5 X1.4 7 Channel6 UNSIGNED8 RW 6 X1.3 8 Channel7 UNSIGNED8 RW 7 X1.8 Sub- Index Description Access Data Type Default 0h Number of entries RO UNSIGNED8 4 1h Node-ID RW UNSIGNED h Reserved RO UNSIGNED8 3h Reserved RO UNSIGNED8 4h Bit rate RW UNSIGNED8 250

27 27 / h Configuration of AI type The AI type (voltage/current) is configured with this object. Value 0 is for voltage and 1 is for current. VAR Data Type UNSIGNED8 No Default 0 A bit corresponds to a specific analogue input as follows: Bit0=X1.10 Bit1=X1.17 Bit2=X1.20 Bit3=X1.21 Bit4=X1.22 Bit5=X h PWM Frequency Analogue output PWM frequency can be configured by writing Object Entry at sub-index 0 contains the number of device PWM groups and can not be written. Each consequent subindex of object 2502h contains 16-bit value defining PWM group frequency. Frequencies should be given in Hz ( Hz). The default value is 140Hz. ARRAY No Sub- Index Name/Connector Access Data Type Default 0h Number of device PWM groups RO UNSIGNED8 5 1h X1.08 RW UNSIGNED X1.09 2h X1.01 RW UNSIGNED h X1.03 RW UNSIGNED h X1.04 RW UNSIGNED h X1.07 RW UNSIGNED16 140

28 28 / h Pulse Input Configuration Configuration of pulse input channels can be done by writing Object. Entry at sub-index 0 contains the number of device pulse inputs channels and cannot be written. Each consequent sub-index of object 2503h contains an 8-bit value determining channel B of particular pulse input channel. The following values of pulse input channel mode are allowed: Subindex-1 channel is used in a single channel mode (for example, if value 0 is written to subinex1, the channel is used in a single channel mode) {0,,15} - channel is used in a double channel mode and the provided value determines channel B When the single channel mode is used, the pulse count counts the rising and falling pulse edges. In order to store the newly set configuration of Pulse input channels in non-volatile memory the parameters storing operation must be executed using Object 1010h. Channel Sub-Index Connector CH0 1 X1.11 CH1 2 X1.12 CH2 3 X1.13 CH3 4 X1.14 CH4 5 X1.9 CH5 6 X1.4 CH6 7 X1.3 CH7 8 X1.8

29 29 / 57 6 STANDARDISED DEVICE PROFILE The following table shows the connectors and related objects/entries: Pin DI DO AI FI PI AO/PWM X h sub1 bit6 6200h sub1 bit2 6411h sub5 X h sub3 bit6 6401h sub7 X h sub2 bit6 6200h sub1 bit3 6401h sub h sub1b 6411h sub6 X h sub2 bit5 6200h sub1 bit4 6401h sub h sub1a 6411h sub7 X h sub3 bit7 6401h sub8 X h sub4 bit0 6401h sub9 X h sub1 bit5 6200h sub1 bit5 6411h sub8 X h sub2 bit7 6200h sub1 bit6 6401h sub h sub1c 6411h sub1 X h sub2 bit4 6200h sub1 bit7 6401h sub h sub h sub2 X h sub3 bit0 6401h sub1 X h sub2 bit0 6401h subd 6401h sub15 X h sub2 bit1 6401h sube 6401h sub16 X h sub2 bit2 6401h subf 6401h sub17 X h sub2 bit3 6401h sub h sub18 X1.15 X1.16 X h sub3 bit1 6401h sub2 X1.18* 6000h sub1 bit7 6200h sub1 bit0 X1.19 X h sub3 bit2 6401h sub3 X h sub3 bit3 6401h sub4 X h sub3 bit4 6401h sub5 X h sub3 bit5 6401h sub6 *) Pin X1.18 is sinking whereas other output pins are sourcing. The implemented standardised device profile objects are listed in the following table: Index Sub index Name Type Acc Object Default Digital Input 6000h Read Input 8-bit ARRAY 0 Number of Inputs 8-Bit UNSIGNED8 RO 4 1 Read Input 1h to 8h UNSIGNED8 RO - 2 Read Input 9h to Eh UNSIGNED8 RO - 3 Read Input Fh to 27h UNSIGNED8 RO - 4 Read Input 28h to 31h UNSIGNED8 RO h Polarity Input 8-bit ARRAY 0 Number of Inputs 8-Bit UNSIGNED8 RO 4 1 Polarity Input 1h to 8h UNSIGNED8 RW 0 2 Polarity Input 9h to Eh UNSIGNED8 RW 0 3 Polarity Input Fh to 27h UNSIGNED8 RW 0 4 Polarity Input 28h to 31h UNSIGNED8 RW 0 Digital Output 6200h Write Output 8-Bit ARRAY 0 Number of Outputs 8-Bit UNSIGNED8 RO 2 1 Write Output 1h to 8h UNSIGNED8 RW h Change Polarity Output 8-Bit ARRAY 0 Number of Outputs 8-Bit UNSIGNED8 RO 2 1 Change Polarity Output 1h to UNSIGNED8 RW 0 8h 2 Change Polarity Output 9h to UNSIGNED8 RW 0 Ah 6206h Error mode output 8-bit ARRAY 0 Number of outputs 8-bit UNSIGNED8 RO 2

30 30 / 57 1 Error mode output 01h to 08h UNSIGNED8 RW FFh 2 Error mode output 09h to 10h UNSIGNED8 RW FFh 6207h Error value output 8-bit ARRAY 0 Number of outputs 8-bit UNSIGNED8 RO 2 1 Error value output 01h to 08h UNSIGNED8 RW 0 2 Error value output 09h to 10h UNSIGNED8 RW 0 Analogue Input 6401h Read Analogue Input 16-Bit ARRAY 0 Number of Analogue Inputs UNSIGNED8 RO h 642Eh 642Fh 1-1Ch 16-Bit Analogue Input 1-1Ch INTEGER16 RO - Analogue Input Global Interrupt Enable BOOLEAN RW VAR FALSE Analogue input offset float 0 Number of Analogue Inputs UNSIGNED8 RO 28 Analogue Input 1-1Ch REAL32 RW 0 1-1Ch Analogue input pre-scaling float 0 Number of Analogue Inputs UNSIGNED8 RO Ch Analogue Input 1-1Ch REAL32 RW 1 Analogue Output 6411h Write Analogue Output 16-Bit ARRAY 0 Number of Analogue Outputs UNSIGNED8 RO 8 16-Bit 1-8 Analogue Output 1-5 INTEGER16 RW 0 Analogue output set-ups 6443h Analogue Output Error Mode ARRAY 0 Number of Analogue Outputs UNSIGNED8 RO Error Mode Analogue Output UNSIGNED8 RW h Analogue Output Error Value ARRAY Integer 0 Number of Analogue Outputs UNSIGNED8 RO Analogue Output 1..5 INTEGER32 RW Digital Inputs The block diagram for digital inputs is displayed in the following figure:

31 31 / h Read Input 8 bit This object reads groups of 8 input lines as 8-bit information. The value of the input lines is written to this object. ARRAY Yes Subindex 1: Subindex 2: Subindex 3: Subindex 4: bit0-4: not connected bit 5: X1.07 bit 6: X1.01 bit 7: X1.18 bit0: X1.06 bit0: X1.11 bit1: X1.12 bit2: X1.13 bit3: X1.14 bit4: X1.09 bit5: X1.04 bit6: X1.03 bit7: X1.08 bit0: X1.10 bit1: X1.17 bit2: X1.20 bit3: X1.21 bit4: X1.22 bit5: X1.23 bit6: X1.02 bit7: X h Polarity Input 8 bit This object defines the polarity of a group of 8 input lines. The inputs can be inverted individually with this object. 1 = input inverted 0 = input not inverted ARRAY No Sub- Index Description Access Data Type Default 0h Number of inputs 8 bit RO UNSIGNED8 4 1h Read input 01h to 08h RO UNSIGNED8-2h Read input 09h to 0Eh RO UNSIGNED8-3h Read input 0Fh to 27h RO UNSIGNED8-4h Read input 28h to 31h RO UNSIGNED8 - Sub- Index Description Data Type Acc Default 0h Number of inputs 8 bit UNSIGNED8 RO 4 1h Polarity input 01h to 08h UNSIGNED8 RW 0 2h Polarity input 09h to 0Eh UNSIGNED8 RW 0 3h Read input 0Fh to 27h UNSIGNED8 RW 0 4h Read input 28h to 31h UNSIGNED8 RW 0

32 32 / Digital Outputs The block diagram for digital outputs is displayed in the following figure: h Write Output 8 bit This object sets a group of 8 output lines as 8-bit information, ie. with this object the digital outputs can be written to. ARRAY Yes Sub- Index Description Data Type Acc Default 0h Number of outputs 8 bit UNSIGNED8 RO 2 1h Write output 01 h to 08 h UNSIGNED8 RW 0 Subindex 1: bit0: X1.18 bit1: not connected bit2: X1.01 bit3: X1.03 bit4: X1.04 bit5: X1.07 bit6: X1.08 bit7: X1.09

33 33 / h Change Polarity Output 8 bit This object defines the polarity of a group of 8 output lines. Output polarity can be inverted individually. 1 = output inverted 0 = output not inverted. ARRAY No h Error Mode Output 8 bit This object indicates, whether an output is set to a pre-defined error value (given in object 6207h) in case of a device error. 1 = output value will be changed to the pre-defined value specified in object 6207h 0 = output value will not be changed even if an error occurs ARRAY No h Error Value Output 8 bit On condition that the corresponding Error mode is active, device failures will set the outputs to the value configured by this object. 1 = output is set to 1 (active state) in case of fault, if object 6206h is enabled 0 = output is set to 0 (inactive state) in case of fault, if object 6206h is enabled ARRAY No Sub- Index Description Data Type Acc Default 0h Number of outputs 8 bit UNSIGNED8 RO 2 1h Change polarity output 01h to 08 h UNSIGNED8 RW 0 2h Change polarity output 09h to 10 h UNSIGNED8 RW 0 Sub- Index Description Data Type Acc Default 0h Number of outputs 8 bit UNSIGNED8 RO 2 1h Error mode output 01h to 08h UNSIGNED8 RW FFh 2h Error mode output 09h to 10h UNSIGNED8 RW FFh Sub- Index Description Data Type Acc Default 0h Number of outputs 8 bit UNSIGNED8 RO 2 1h Error value output 01 h to 08 h UNSIGNED8 RW 0 2h Error value output 09 h to 10 h UNSIGNED8 RW 0

34 34 / Analogue Inputs The block diagram for analogue inputs is displayed in the following figure: If there are no PDOs that include analogue inputs transmitted to the bus, switch on the bit in index 6423h. See chapter h Analogue Input Global Interrupt Enable h Read Analogue Input 16 bit This object reads the value of the input channel 'n'. Value is 16-bit wide or less. The value is always left adjusted. ARRAY Yes Sub- Index Description Data Type Acc Actual/Real Value 0h Number of analogue UNSIGNED8 RO 28 inputs 16 bit 1h subindex 1: AI_X1.10 INTEGER16 RO With voltage inputs 0-5 V; with current inputs 0-22,7 ma; linear h subindex 2: AI_X1.17 INTEGER16 RO With voltage inputs 0-5 V; with current inputs 0-22,7 ma; linear h subindex 3: AI_X1.20 INTEGER16 RO With voltage inputs 0-5 V; with current inputs 0-22,7 ma; linear h subindex 4: AI_X1.21 INTEGER16 RO With voltage inputs 0-5 V; with current inputs 0-22,7 ma; linear h subindex 5: AI_X1.22 INTEGER16 RO With voltage inputs 0-5 V; with current inputs 0-22,7 ma; linear

35 35 / 57 6h subindex 6: AI_X1.23 INTEGER16 RO With voltage inputs 0-5 V; with current inputs 0-22,7 ma; linear h subindex 7: AI_X1.02 (feedback) INTEGER16 RO Value scale , range ma 8h subindex 8: AI_X1.05 (feedback) INTEGER16 RO Value scale , range ma 9h subindex 9: AI_X1.06 INTEGER16 RO Value scale , (feedback) Ah subindex A: AI_Temperature INTEGER16 RO range ma TEMP (º C) = Value ,3 Bh subindex B: AI_Supply INTEGER16 RO 0-46 V, linear Ch subindex C: GND INTEGER16 RO ~0 Dh subindex D: FI_X1.11 INTEGER16 RO Frequency with 1 Hz accuracy Eh subindex E: FI_X1.12 INTEGER16 RO Fh subindex F: FI_X1.13 INTEGER16 RO 10h subindex 10: FI_X1.14 INTEGER16 RO 11h subindex 11: FI_X1.09 INTEGER16 RO 12h subindex 12: FI_X1.04 INTEGER16 RO 13h subindex 13: FI_X1.03 INTEGER16 RO 14h subindex 14: FI_X1.08 INTEGER16 RO 15h subindex 15: PI_X1.11 INTEGER16 RO Pulse count 16h subindex 16: PI_X1.12 INTEGER16 RO 17h subindex 17: PI_X1.13 INTEGER16 RO 18h subindex 18: PI_X1.14 INTEGER16 RO 19h subindex 19: PI_X1.09 INTEGER16 RO 1Ah subindex 1A: PI_X1.04 INTEGER16 RO 1Bh subindex 1B: PI_X1.03 INTEGER16 RO 1Ch subindex 1C: PI_X1.08 INTEGER16 RO Scaling is done individually for every channel. Sub indexes correlate to each other, so that 632Esub2 controls X h Analogue Input Global Interrupt Enable With this object the interrupt behaviour can be enabled and disabled without changing the interrupt mask. By default no analogue input activates an interrupt. If there are no PDOs that include analogue inputs transmitted to the bus, switch on the bit in this index. TRUE = Global interrupt is enabled FALSE = Global interrupt is disabled Data Type Access Default VAR BOOLEAN RW No FALSE

36 36 / Eh Analogue Input Offset Float This object sets the offsets in float format for input data (6403h object) for channel 'n'. ARRAY No Fh Analogue Input Pre-Scaling Float This object sets the pre-scaling in float format for input data (6403h object). ARRAY No Sub- Index Description Data Type Acc Default 0h Number of analogue inputs UNSIGNED8 RO 28 1h Analogue input 01 h REAL32 RW 0 2h Analogue input 02 h REAL32 RW 0 1Ch Analogue input 1C h REAL32 RW 0 Sub- Index Description Data Type Acc Default 0h Number of analogue inputs UNSIGNED8 RO 28 1h Analogue input 01 h REAL32 RW 1 2h Analogue input 02 h REAL32 RW 1 1Ch Analogue input 1C h REAL32 RW 1

37 37 / Analogue Output The block diagram for analogue outputs is displayed in the following figure: h Write Analogue Output 16 bit This object writes an integer16 value to the output channel 'n'. The value is always left adjusted. Values describe the approximate pulse width. With 140Hz frequency the approximation is about 94% correct; with larger frequencies the approximation varies more. Linear scale (approximately): 0 = 0%, 16k = 50%, 32k = 100%. ARRAY Yes Sub- Index Description Data Type Acc Default 0h Number of analogue outputs 16 bit UNSIGNED8 RO 8 1h Analogue output 01h INTEGER16 RW 0 subindex1: X1.08 2h Analogue output 02h INTEGER16 RW 0 subindex2: X1.09 3h Analogue output 03h INTEGER16 RW 0 subindex3: not connected 4h Analogue output 04h INTEGER16 RW 0 subindex4: not connected 5h Analogue output 05h subindex5: X1.01 INTEGER16 RW 0

38 6h 7h 8h Epec CAN Module Family Analogue output 06h subindex6: X1.03 Analogue output 07h subindex7: X1.04 Analogue output 08h subindex8: X / 57 INTEGER16 RW 0 INTEGER16 RW 0 INTEGER16 RW Analogue Output Set-ups h Analogue Output Error Mode This object defines, whether an output is set to a pre-defined error value (see 6444h object) in case of an internal device failure or a 'Stop remote node' indication. 0h = actual value rest 1h = reverts to error value integer (6444h) others = reserved ARRAY No h Analogue Output Error Value Integer On condition that the corresponding Error mode is active, device failures force the outputs to the value configured by this object. ARRAY No Sub- Index Description Data Type Acc Default 0h Number of analogue outputs UNSIGNED8 RO 8 1h Error mode analogue output 01h UNSIGNED8 RW 1 2h Error mode analogue output 02h UNSIGNED8 RW 1 3h Error mode analogue output 03h UNSIGNED8 RW 1 4h Error mode analogue output 04h UNSIGNED8 RW 1 5h Error mode analogue output 05h UNSIGNED8 RW 1 6h Error mode analogue output 06h UNSIGNED8 RW 1 7h Error mode analogue output 07h UNSIGNED8 RW 1 8h Error mode analogue output 08h UNSIGNED8 RW 1 Sub- Index Description Data Type Acc Default 0h Number of analogue outputs UNSIGNED8 RO 8 1h Analogue output 01h INTEGER32 RW 0 2h Analogue output 02h INTEGER32 RW 0 3h Analogue output 03h INTEGER32 RW 0 4h Analogue output 04h INTEGER32 RW 0 5h Analogue output 05h INTEGER32 RW 0 6h Analogue output 06h INTEGER32 RW 0 7h Analogue output 07h INTEGER32 RW 0 8h Analogue output 08h INTEGER32 RW 0