HD1-E CANopen instruction manual
- 23 -
Appendix 1 OD
Index(hex)
Sub-
index
Description
Access right
Data type
Default value
1000
0
Device type
RO
Unsigned32
0x0000 0000
1001
0
Error register
RO
Unsigned8
1003
Error code register
0
Sub-index number
RW
1
Error code
RO
Unsigned32
1005
0
COB-ID SYNC
RW
Unsigned32
1006
0
Communication cycle period
RW
Unsigned32
1007
0
Synchronous window length
RW
Unsigned32
1008
0
Manufacturer and device name
CONST
String
IMO
CANopen
1009
0
Hardware version
CONST
String
V1.00
100A
0
Software version
CONST
String
V1.00
100C
0
Protection time
RW
Unsigned16
0
100D
0
Life cycle factor
RW
Unsigned16
0
1016
Heartbeat time of customers
0
Sub-index number
RO
Unsigned8
1
Heartbeat time of customers
RW
Unsigned32
1017
0
Heartbeat time of manufacturer
RW
Unsigned16
0
1018
Object identification
0
Sub-index number
RO
Unsigned8
4
1
Supplier ID
RO
Unsigned32
0x0000 0000
2
Product code
RO
Unsigned32
0x0000 0000
3
Revision number
RO
Unsigned32
0x0000 0000
4
Serial number
RO
Unsigned32
0x0000 0000
1200
Server SDO
0
Sub-index number
RO
Unsigned8
1
COB-ID client -> server (Rx)
RO
Unsigned32
600H+node ID
2
COB-ID server -> client (Tx)
RO
Unsigned32
580H+node ID
1280
Client SDO
0
Sub-index number
RO
Unsigned8
1
COB-ID client -> server (Rx)
RO
Unsigned32
2
COB-ID server -> client (Tx)
RO
Unsigned32
3
Node ID of server SDO
RO
Unsigned8
1400
PDO1 Rx communication parameters
0
Avaliable maximum sub-index
RO
Unsigned8
1
COB-ID used by PDO
RW
Unsigned32
2
Transmission type
RW
Unsigned8
3
Unsigned16
4
Unsigned8
5
Event timer
RW
Unsigned16
1401
PDO2 Rx communication parameters
0
Avaliable maximum sub-index
RO
Unsigned8
1
COB-ID used by PDO
RW
Unsigned32
2
Transmission type
RW
Unsigned8
3
Unsigned16
4
Unsigned8
5
Event timer
RW
Unsigned16
1402
PDO3 Rx communication parameters
0
Avaliable maximum sub-index
RO
Unsigned8
1
COB-ID used by PDO
RW
Unsigned32
