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| MultiExcerptName | COS_V5_Features |
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The data below applies to CANopen Slave firmware and stack version |
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x.x.x The firmware/stack has been designed in order to meet the CiA Work Draft 301 V4.2. |
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0 specification. |
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| width | 35%Key Features
excerptBLOCK- Node guarding / life guarding and heartbeat
SYNC protocolEmergency messages| Column |
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Supported Protocols- CANopen
- CAN Layer 2 Messages through Packet Interface
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toc- PDO mapping
- NMT Slave
- SYNC protocol (consumer)
30%On this page
Technical Data
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| number of input data | standard mode default setting: 128 bytes, extended mode: maximum 1020 bytes |
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| number of output data | standard mode default setting: 128 bytes, extended mode: maximum 1020 bytes |
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Standard Mode
standard mode default setting: 16 extended mode: 0..512, for mapping objects 2200 … 2203 |
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Standard Mode
standard mode default setting: 16 extended mode: 0..512, for mapping objects 2000 … 2003 |
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Extended Mode*
| Exchange of process data | - Via PDO transfer
- synchronized
- remotely requested
- event driven (change of date)
- Requested by application
| | Acyclic communication | - SDO Up- and Download (Server only),
- Emergency message (producer),
- Timestamp (producer/consumer)
| | Functions | - Node guarding / life guarding, heartbeat
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- PDO Mapping
- NMT Slave
- SYNC protocol (consumer)
- Error behavior in state operational:
- change to state pre-operational
- no state change
- change to state stopped
| | Baud rates | - 10 kBit/s to 1 MBit/s
- Automatic detection
| | Data transport layer | CAN Frames |
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*: In extended mode, the stack offers extended functionality. To use these functions requires an application program that configures and supports these functions, e.g. to create an own object dictionary. In extended mode, more input and output data can be used and transmit and receive PDOs can be used. |
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Note: The actual maximum number of IO Data and PDOs depends on the available amount of memory. Configuration |
For configuration of standard mode with default settings:
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For configuration of standard mode with default settings and configured settings and extended mode:
- by packet to transfer configuration parameters.
Diagnostic
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Diagnostic- Dual-port memory: Common diagnostic via dual port memory
- API: Packet API bases diagnostic
- LED: Diagnostic LED
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