2 PLC transCON PLC-CANopen
2.7 transCON PLC-CANopen (Slave): Object Directory
The transCON system is a modular system consisting of input/output modules, a power supply and the communication controller. In its object directory, the CANopen communi-cation controller reflects the input/output modules that make up the entire node. The object directory is constructed according to the input/output modules specified in the desired configuration.
The object directory consists of a fixed range, which is assigned to the communication controller, and a variable range, which is dependent on the I/O modules connected. The objects in the fixed range are always present, while the objects in the variable range are dependent on two factors: the desired configuration and the modules that are actually connected.
The fixed range contains:
Objects 1000h – 13FFh: The standard object directory to DS301
•
The manufacturer-specific objects 2000h and 2001h for transCON
•
The variable range consists of:
Objects 1400h – 1FFFh. for PDO mapping and the communication parameters
•
Objects 6000h and up for the description of the modules that are connected
•
Index S-Idx Parameter Name Meaning
1000h 0 Device Type Type identifer according to
DS401
1001h 0 Error Register Error status according to
DS301
1003h 0 Pre-defined Error Field 1-5 error history
1005h COB-ID SYNC ID of the Sync message
100Ch Guard Time
100Dh Life Time Factor
1014h COB-ID EMCY
1016h Consumer Heartbeat Time Parameter is optional.
1017h Producer Heartbeat Time
1018h Identity Object
1200h Server SDO Parameter
2.7.1 Description of the PDOs in the Object Directory
The transmission mode of the PDOs is defined by the object directory inputs, which are designated to be "communication parameters" according to DS401.
The "mapping parameters" constitute a formal description of the PDO contents. The transCON bus coupler uses fixed mapping. Therefore, the mapping inputs can only be read and cannot be changed by the user.
The table below provides an overview of the objects that are directly assigned to the PDOs:
PDO Meaning Communication-parameter
Mapping-parameter
TPDO1 Digital Inputs 1800h 1A00h
TPDO2 Analog inputs, first module 1801h 1A01h
TPDO3 Analog inputs, second module 1802h 1A02h
TPDO4 Analog inputs, third module 1803h 1A03h
TPDO5 Analog inputs, fourth module 1804h 1A04h
RPDO1 Digital Outputs 1400h 1600h
RPDO2 Analog outputs, modules 1 + 2 1401h 1601h
RPDO3 Analog outputs, modules 3 + 4 1402h 1602h
2.7.2 Configuration of the Outputs RPDO1 (digital outputs)
Index S-Idx Parameter Name Default Meaning 1400 h 0 Number of highest
sub-index
Always 5 Number of highest subindex 1 COB-ID used by PDO 200h +
node ID
COB ID used by the PDO
2 Transmission type Transmission type according to
DS401
3 Inhibit Time Inhibit time, during which the PDO
may not be transmitted repeatedly (according to DS401)
4 Reserved for compa-tibility reasons 5 Event timer
RPDO2 (analog outputs, modules 1 and 2)
Index S-Idx Parameter Name Default Meaning 1401 h 0 Number of highest
sub-index
Always 5 Number of highest subindex 1 COB-ID used by PDO 300h +
node ID
COB ID used by the PDO
2 Transmission type Transmission type according to
DS401
3 Inhibit Time Inhibit time, during which the PDO
may not be transmitted repeatedly (according to DS401)
4 Reserved for compati-bility reasons
5 Event timer
RPDO3 (analog outputs, modules 3 and 4)
Index S-Idx Parameter Name Meaning
1402 h 0 Number of highest sub-index
Always 5 Number of highest subindex 1 COB-ID used by PDO None COB ID used by the PDO
2 Transmission type Transmission type according to
DS401
3 Inhibit Time Inhibit time, during which the PDO
may not be transmitted repeatedly (according to DS401)
4 Reserved for compati-bility reasons
5 Event timer
2.7.3 Configuration of the Inputs TPDO1 (digital inputs)
Index S-Idx Parameter Name Default Meaning 1800 h 0 Number of highest
sub-index
Always 5 Number of highest subindex 1 COB-ID used by PDO 180h +
node ID
COB ID used by the PDO
2 Transmission type Transmission type according to
DS401
3 Inhibit Time Inhibit time, during which the PDO
may not be transmitted repeatedly (according to DS401)
4 Reserved for compati-bility reasons
5 Event timer
TPDO2 (analog input of the first module)
Index S-Idx Parameter Name Default Meaning 1801 h 0 Number of highest
sub-index
Always 5 Number of highest subindex 1 COB-ID used by PDO 280h +
node ID
COB ID used by the PDO
2 Transmission type Transmission type according to
DS401
3 Inhibit Time Inhibit time, during which the PDO
may not be transmitted repeatedly (according to DS401)
4 Reserved for compati-bility reasons
5 Event timer
TPDO3 (analog inputs of the second module)
Index S-Idx Parameter Name Meaning
1802 h 0 Number of highest sub-index
Always 5 Number of highest subindex 1 COB-ID used by PDO None COB ID used by the PDO
2 Transmission type Transmission type according to
DS401
3 Inhibit Time Inhibit time, during which the PDO
may not be transmitted repeatedly (according to DS401)
4 Reserved for compati-bility reasons
5 Event timer
TPDO4 (analog inputs of the third module)
Index S-Idx Parameter Name Default Meaning 1803 h 0 Number of highest
sub-index
Always 5 Number of highest subindex 1 COB-ID used by PDO None COB ID used by the PDO
2 Transmission type Transmission type according to
DS401
3 Inhibit Time Inhibit time, during which the PDO
may not be transmitted repeatedly (according to DS401)
4 Reserved for compati-bility reasons
5 Event timer
TPDO5 (analog inputs of the fourth module)
Index S-Idx Parameter Name Meaning
1804 h 0 Number of highest sub-index
Always 5 Number of highest subindex 1 COB-ID used by PDO None COB ID used by the PDO
2 Transmission type Transmission type according to
DS401
3 Inhibit Time Inhibit time, during which the PDO
may not be transmitted repeatedly (according to DS401)
4 Reserved for compati-bility reasons
5 Event timer
2.7.4 Mapping the Digital Inputs
For every input module, there is an input in the mapping object.
Index S-Idx Parameter Name Default Meaning 1A00 h 0 Number of mapped
objects
Highest permissible subindex for the object; identical to the number of digital input modules
1 60000108 Mapping input for the first input
module, if present
2 60000208 Mapping input for the second input
module, if present
3 60000308 Mapping input for the third input
module, if present
4 60000408 Mapping input for the fourth input
module, if present
5 60000508 Mapping input for the fifth input
module, if present
6 60000608 Mapping input for the sixth input
module, if present
7 60000708 Mapping input for the seventh
input module, if present
8 60000808 Mapping input for the eighth input
module, if present 2.7.5 Mapping the Analog Inputs
There is a mapping input for each analog input channel.
Index S-Idx Parameter Name Default Meaning 1A01 h 0 Number of mapped
Objects
Highest permissible subindex for the object
1 64010110 Channel IN1, module 1
2 64010210 Channel IN2, module 1
3 64010310 Channel IN3, module 1
4 64010410 Channel IN4, module 1
1A02 h 0 Number of mapped Objects
Highest permissible subindex for the object
1 64010510 Channel IN1, module 2
2 64010610 Channel IN2, module 2
3 64010710 Channel IN3, module 2
4 64010810 Channel IN4, module 2
1A03 h 0 Number of mapped Objects
Highest permissible subindex for the object
1 64010910 Channel IN1, module 3
2 64010A10 Channel IN2, module 3
3 64010B10 Channel IN3, module 3
4 64010C10 Channel IN4, module 3
1A04 h 0 Number of mapped Objects
Highest permissible subindex for the object
1 64010D10 Channel IN1, module 4
2 64010E10 Channel IN2, module 4
3 64010F10 Channel IN3, module 4
4 64011010 Channel IN4, module 4
2.7.6 Mapping the Digital Outputs
For every output module, there is an input the mapping object.
Index S-Idx Parameter Name Default Meaning 1600 h 0 Number of mapped
Objects
Highest permissible subindex for the object; identical to the number of digital output modules
1 62000108 First DO module, if present
2 62000208 Second DO module, if present
3 62000308 Third DO module, if present
4 62000408 Fourth DO module, if present
5 62000508 Fifth DO module, if present
6 62000608 Sixth DO module, if present
7 62000708 Seventh DO module, if present
8 62000808 Eighth DO module, if present
2.7.7 Mapping the Analog Outputs
There is a mapping input for each analog output channel.
Index S-Idx Parameter Name Default Meaning 1601 h 0 Number of mapped
Objects
Highest permissible subindex for the object
1 64110110 Channel OUT1, module 1
2 64110210 Channel OUT2, module 1
3 64110310 Channel OUT1, module 2
4 64110410 Channel OUT2, module 2
1602 h 0 Number of mapped Objects
Highest permissible subindex for the object
1 64110510 Channel OUT1, module 3
2 64110610 Channel OUT2, module 3
3 64110710 Channel OUT1, module 4
4 64110810 Channel OUT2, module 4