Documentation 3-9636AR08

Description

CANopen implementaion Fiber Fiber Switch

Line 0

Table of Objects - Line 0


[ Top ] [ Top of line ]
Object 1000h: Device Type
The device type specifies the kind of device.
The lower 16 bit contain the device profile number
and the upper 16 bit an additional information.
Object Description
INDEX 1000
Name Device Type
Object Code Variable
Data Type UNSIGNED32
Category Mandatory
Entry Description
Access CONST
PDO Mapping No
Default Value 0x0000000
Lower Limit 0x00000000
Upper Limit 0xFFFFFFFF
Unit -
Object 1001h: Error Register
The error register is a field of 8 bits, each for a certain error type.
If an error occurs the bit has to be set.
 
Bit Meaning
0  generic error
1  current
2  voltage
3  temperature
4  communication error (overrun, error state)
5  device profile specific
6  reserved
7  manufacturer specific
Object Description
INDEX 1001
Name Error Register
Object Code Variable
Data Type UNSIGNED8
Category Mandatory
Entry Description
Access RO
PDO Mapping No
Default Value 0x00
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Object 1008h: Manufacturer Device Name
Contains the device name.
Object Description
INDEX 1008
Name Manufacturer Device Name
Object Code Variable
Data Type VISIBLE_STRING
Category Optional
Entry Description
Access CONST
PDO Mapping No
Default Value Fiber Fiber Switch
Lower Limit -
Upper Limit -
Unit -
Object 1009h: Manufacturer Hardware Version
Contains the device hardware version.
Object Description
INDEX 1009
Name Manufacturer Hardware Version
Object Code Variable
Data Type VISIBLE_STRING
Category Optional
Entry Description
Access CONST
PDO Mapping No
Default Value 3-9636
Lower Limit -
Upper Limit -
Unit -
Object 100Ah: Manufacturer Software Version
Contains the device software version.
Object Description
INDEX 100A
Name Manufacturer Software Version
Object Code Variable
Data Type VISIBLE_STRING
Category Optional
Entry Description
Access CONST
PDO Mapping No
Default Value R08
Lower Limit -
Upper Limit -
Unit -
Object 1016h: Heartbeat Consumer Entries
The consumer heartbeat time defines the expected heartbeat cycle
time and thus has to be higher than the corresponding producer heartbeat
time configured on the device producing this heartbeat.

The bits 31 - 24 of each sub-index has to be 0.
The bits 23 - 16 contain the node-id.
The lower 16 bits contain the heartbeat time
Object Description
INDEX 1016
Name Heartbeat Consumer Entries
Object Code Array
Data Type UNSIGNED32
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x01
Lower Limit 0x1
Upper Limit 0x7F
Unit -
Sub-Index 001
Description Consumer Heartbeat Time 1
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x00000000
Lower Limit 0x0
Upper Limit 0x02FFFFFF
Unit ms
Object 1017h: Producer Heartbeat Time
The producer heartbeat time defines the cycle 
time of the heartbeat. If the time is 0 it is not used.
The time has to be a multiple of 1 msec
Object Description
INDEX 1017
Name Producer Heartbeat Time
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x00000000
Lower Limit 0x0
Upper Limit 0xFFFF
Unit ms
Object 1018h: Identity Object
This object contains general information about the
device.
Sub-Index 1 contains a unique value allocated each manufacturer.
Sub-Index 2 identifies the manufacturer specific product code (device version).
Sub-Index 3 contains the revision number.
Bit 31-16 is the major revision number and Bit 15-0 the minor revision number.
Sub-Index 4 identifies a manufacturer specific serial number.
Object Description
INDEX 1018
Name Identity Object
Object Code Record
Data Type IDENTITY
Category Mandatory
Entry Description
Sub-Index 000
Description number of entries
Entry Category Mandatory
Access RO
PDO Mapping No
Default Value 0x4
Lower Limit 0x1
Upper Limit 0x4
Unit -
Sub-Index 001
Description Vendor Id
Entry Category Mandatory
Access RO
PDO Mapping No
Default Value 0x66
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Product Code
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x10003
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 003
Description Revision number
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit 4
Sub-Index 004
Description Serial number
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Object 1200h: Server SDO Parameter 1
The object contains the parameters for the SDOs for which
the device is the server.
Object Description
INDEX 1200
Name Server SDO Parameter 1
Object Code Record
Data Type SDO_PARAMETER
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x02
Lower Limit 0x02
Upper Limit 0x02
Unit -
Sub-Index 001
Description COB-ID Client -> Server
Entry Category Mandatory
Access RO
PDO Mapping No
Default Value 0x00000600
Lower Limit 0x00000600
Upper Limit 0xBFFFFFFF
Unit -
Sub-Index 002
Description COB-ID Server -> Client
Entry Category Mandatory
Access RO
PDO Mapping No
Default Value 0x00000580
Lower Limit 0x00000580
Upper Limit 0xBFFFFFFF
Unit -
Object 1400h: Receive PDO Communication Parameter 1
It contains the communication parameters of the current PDO
the device is able to receive.
Sub-index 0 contains the number of PDO-parameters implemented.
Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled.
The  transmission mode is defined by sub-index 2.
Object Description
INDEX 1400
Name Receive PDO Communication Parameter 1
Object Code Record
Data Type PDO_COMM_PAR
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x02
Lower Limit 0x02
Upper Limit 0x05
Unit -
Sub-Index 001
Description COB-ID
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x00000200
Lower Limit 0x00000001
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Transmission Type
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0xFE
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Object 1600h: Receive PDO Mapping Parameter 1
The sub-indices contain the indices, the sub-indices and the
lengths of the mapped sub-indices.

Their structure is as follows:
index (16bit)   sub-index (8bit)   length (8bit)
Object Description
INDEX 1600
Name Receive PDO Mapping Parameter 1
Object Code Record
Data Type PDO_MAPPING
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Mandatory
Access RO
PDO Mapping No
Default Value 0x02
Lower Limit 0x0
Upper Limit 0x40
Unit -
Sub-Index 001
Description Mapping Entry 1
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20000008
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Mapping Entry 2
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20010008
Lower Limit 0x00000000
Upper Limit 0xFFFFFFFF
Unit -
Object 1800h: Transmit PDO Communication Parameter 1
It contains the communication parameters of the current PDO
the device is able to transmit.
Sub-index 0 contains the number of PDO-parameters implemented.
Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled.
The transmission mode is defined by sub-index 2.
An inhibit time can be defined on sub-index 3 in 100 Ás.
Object Description
INDEX 1800
Name Transmit PDO Communication Parameter 1
Object Code Record
Data Type PDO_COMM_PAR
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x03
Lower Limit 0x02
Upper Limit 0x05
Unit -
Sub-Index 001
Description COB-ID
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x00000180
Lower Limit 0x00000001
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Transmission Type
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0xFE
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Sub-Index 003
Description Inhibit Time
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x32
Lower Limit 0x0
Upper Limit 0xFFFF
Unit 100 Ás
Object 1801h: Transmit PDO Communication Parameter 2
It contains the communication parameters of the current PDO the device is able to transmit.
Sub-index 0 contains the number of PDO-parameters implemented.
Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled.
The transmission mode is defined by sub-index 2.
An inhibit time can be defined on sub-index 3 in 100 Ás.
Object Description
INDEX 1801
Name Transmit PDO Communication Parameter 2
Object Code Record
Data Type PDO_COMM_PAR
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x03
Lower Limit 0x2
Upper Limit 0x5
Unit -
Sub-Index 001
Description COB-ID
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x00000280
Lower Limit 0x00000001
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Transmission Type
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0xFE
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Sub-Index 003
Description Inhibit Time
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x3E8
Lower Limit 0x0
Upper Limit 0xFFFF
Unit 100 Ás
Object 1802h: Transmit PDO Communication Parameter 3
It contains the communication parameters of the current PDO the device is able to transmit.
Sub-index 0 contains the number of PDO-parameters implemented.
Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled.
The transmission mode is defined by sub-index 2.
An inhibit time can be defined on sub-index 3 in 100 Ás.
Object Description
INDEX 1802
Name Transmit PDO Communication Parameter 3
Object Code Record
Data Type PDO_COMM_PAR
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x03
Lower Limit 0x2
Upper Limit 0x5
Unit -
Sub-Index 001
Description COB-ID
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x00000380
Lower Limit 0x00000001
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Transmission Type
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0xFE
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Sub-Index 003
Description Inhibit Time
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x2710
Lower Limit 0x0
Upper Limit 0xFFFF
Unit 100 Ás
Object 1803h: Transmit PDO Communication Parameter 4
It contains the communication parameters of the current PDO the device is able to transmit.
Sub-index 0 contains the number of PDO-parameters implemented.
Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled.
The transmission mode is defined by sub-index 2.
An inhibit time can be defined on sub-index 3 in 100 Ás.
Object Description
INDEX 1803
Name Transmit PDO Communication Parameter 4
Object Code Record
Data Type PDO_COMM_PAR
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x03
Lower Limit 0x2
Upper Limit 0x5
Unit -
Sub-Index 001
Description COB-ID
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x00000480
Lower Limit 0x00000001
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Transmission Type
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0xFE
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Sub-Index 003
Description Inhibit Time
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x32
Lower Limit 0x0
Upper Limit 0xFFFF
Unit 100 Ás
Object 1A00h: TPDO Mapping Parameter 1
Contains the mapping for the PDOs the device is able to transmit.
The type of the PDO mapping parameter is at index 21h.
The subindex 0h contains the number of valid entires within the mapping record.
This number of entries is also the number of the application variables
which shall be transmitted with the corresponding PDO.
The subindex from 1h to number of entries contain the information
about the mapped application variables.
These entries describe the PDO contents by their index, subindex and length.
All three values are hexa-decimal coded.
The length entry contains the length of the object in bits (1..40h).
This parameter can be used to verify the overall mapping length. It is mandatory.
Object Description
INDEX 1A00
Name TPDO Mapping Parameter 1
Object Code Record
Data Type PDO_MAPPING
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Mandatory
Access RO
PDO Mapping No
Default Value 0x02
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Sub-Index 001
Description CSE_status[1]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20100110
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description CSE_status[2]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20100210
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Object 1A01h: TPDO Mapping Parameter 2
Contains the mapping for the PDOs the device is able to transmit.
The type of the PDO mapping parameter is at index 21h.
The subindex 0h contains the number of valid entires within the mapping record.
This number of entries is also the number of the application variables
which shall be transmitted with the corresponding PDO.
The subindex from 1h to number of entries contain the information about
the mapped application variables.
These entries describe the PDO contents by their index, subindex and length.
All three values are hexa-decimal coded.
The length entry contains the length of the object in bits (1..40h).
This parameter can be used to verify the overall mapping length. It is mandatory.
Object Description
INDEX 1A01
Name TPDO Mapping Parameter 2
Object Code Record
Data Type PDO_MAPPING
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Mandatory
Access RO
PDO Mapping No
Default Value 0x08
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Sub-Index 001
Description FFBD_analog[1]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20110108
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description SCLD_analog[1]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20120108
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 003
Description Humidity
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20130108
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit %RH
Sub-Index 004
Description spare
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20170108
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 005
Description FFBD_analog[2]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20110208
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 006
Description SCLD_analog[2]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20120208
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 007
Description Humidity
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20130208
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit %RH
Sub-Index 008
Description spare
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20170208
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Object 1A02h: TPDO Mapping Parameter 3
Contains the mapping for the PDOs the device is able to transmit.
The type of the PDO mapping parameter is at index 21h.
The subindex 0h contains the number of valid entires within the mapping record.
This number of entries is also the number of the application variables
which shall be transmitted with the corresponding PDO.
The subindex from 1h to number of entries contain the information about
the mapped application variables.
These entries describe the PDO contents by their index, subindex and length.
All three values are hexa-decimal coded.
The length entry contains the length of the object in bits (1..40h).
This parameter can be used to verify the overall mapping length. It is mandatory.
Object Description
INDEX 1A02
Name TPDO Mapping Parameter 3
Object Code Record
Data Type PDO_MAPPING
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Mandatory
Access RO
PDO Mapping No
Default Value 0x04
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Sub-Index 001
Description FFBD_analog_16[1]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x201D0110
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description FFBD_analog_16[2]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x201E0110
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 003
Description SCLD_analog_16[1]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x201D0210
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 004
Description SCLD_analog_16[2]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x201E0210
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Object 1A03h: TPDO Mapping Parameter 4
Contains the mapping for the PDOs the device is able to transmit.
The type of the PDO mapping parameter is at index 21h.
The subindex 0h contains the number of valid entires within the mapping record.
This number of entries is also the number of the application variables
which shall be transmitted with the corresponding PDO.
The subindicex from 1h to number of entries contain the information about
the mapped application variables.
These entries describe the PDO contents by their index, subindex and length.
All three values are hexa-decimal coded.
The length entry contains the length of the object in bits (1..40h).
This parameter can be used to verify the overall mapping length. It is mandatory.
Object Description
INDEX 1A03
Name TPDO Mapping Parameter 4
Object Code Record
Data Type PDO_MAPPING
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Mandatory
Access RO
PDO Mapping No
Default Value 0x04
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Sub-Index 001
Description Status_Thresholds[1]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20300108
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Status_Thresholds[2]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20300208
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 003
Description Status Break Enable[1]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20310108
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 004
Description Status Break Enable[2]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20310208
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Object 2000h: Switches, common PDO

Object Description
INDEX 2000
Name Switches, common PDO
Object Code Variable
Data Type UNSIGNED8
Category Optional
Entry Description
Access RWW
PDO Mapping Yes
Default Value 0x00
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Object 2001h: Alignment diodes, common PDO

Object Description
INDEX 2001
Name Alignment diodes, common PDO
Object Code Variable
Data Type UNSIGNED8
Category Optional
Entry Description
Access RWW
PDO Mapping Yes
Default Value 0x00
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Object 2002h: Setpoint Humidity TH
%RH

Stored in non-volatile memory
Object Description
INDEX 2002
Name Setpoint Humidity TH
Object Code Variable
Data Type UNSIGNED8
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x5F
Lower Limit 0xA
Upper Limit 0x62
Unit %RH
Object 2003h: Setpoint FFBD TH
0xff = 5V

Stored in non-volatile memory
Object Description
INDEX 2003
Name Setpoint FFBD TH
Object Code Array
Data Type UNSIGNED8
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x02
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Sub-Index 001
Description FFBD Threshold[1]
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x80
Lower Limit 0x00
Upper Limit 0xFF
Unit 5V/256
Sub-Index 002
Description FFBD Threshold[2]
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x80
Lower Limit 0x00
Upper Limit 0xFF
Unit 5V/256
Object 2004h: Setpoint SCLD TH
0xff = 5V

Stored in non-volatile memory
Object Description
INDEX 2004
Name Setpoint SCLD TH
Object Code Array
Data Type UNSIGNED8
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x02
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Sub-Index 001
Description Setpoint SCLD threshold[1]
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0xc0
Lower Limit 0x0
Upper Limit 0xFF
Unit 5V/256
Sub-Index 002
Description Setpoint SCLD threshold[2]
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0xc0
Lower Limit 0x0
Upper Limit 0xFF
Unit 5V/256
Object 2005h: Manufacturer test
For manufacturer test only

Sub-Index 1-2:
Bit 0: 1 = Interlock force broken, 0 = Normal
Bit 1: 1 = Scatter light IR test diode enabled
Bit 1: 0 = Scatter light IR test diode disabled

Sub-Index 3 is Toggling interval, dynamic output for safety logic. Resolution is in 10 msec.

Sub-Index 4 is a password to unlock manufaturer test and protects against accidental writes.
Object Description
INDEX 2005
Name Manufacturer test
Object Code Array
Data Type UNSIGNED8
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x4
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Sub-Index 001
Description test vector[1]
Entry Category Optional
Access WO
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Sub-Index 002
Description test vector[2]
Entry Category Optional
Access WO
PDO Mapping No
Default Value 0x00
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Sub-Index 003
Description Toggling_interval
Entry Category Optional
Access WO
PDO Mapping No
Default Value 0x01
Lower Limit 0x0
Upper Limit 0xFF
Unit 10msec
Sub-Index 004
Description password
Entry Category Optional
Access WO
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Object 2006h: Set Angle
Only for variable energy sharing

Stored in non-volatile memory

Set angle for variable energy sharing mirror
Variable energy sharing is only available for first branch
Branch 2 can not be variable energy sharing

Half-degree resolution.
Example:
0 = upright position
+10 = upright position + 5 deg
-20 = upright position - 10 deg
Object Description
INDEX 2006
Name Set Angle
Object Code Array
Data Type INTEGER8
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x02
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Sub-Index 001
Description Setpoint Angle[1]
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x00
Lower Limit 0xE8
Upper Limit 0x18
Unit -
Sub-Index 002
Description Setpoint Angle[2]
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x00
Lower Limit 0xE8
Upper Limit 0x18
Unit -
Object 2007h: Setpoint Alignment Diode
Parameter for modulating Alignment diode intensity
1 mA/unit

Stored in non-volatile memory
Object Description
INDEX 2007
Name Setpoint Alignment Diode
Object Code Array
Data Type UNSIGNED16
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x2
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Sub-Index 001
Description Setpoint Alignment Diode[1]
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x32
Lower Limit 0x0
Upper Limit 0x37
Unit 1 mA
Sub-Index 002
Description Setpoint Alignment Diode[2]
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x32
Lower Limit 0x0
Upper Limit 0x37
Unit 1 mA
Object 2009h: Jump to BootLoader
For expert use only, use to upgrade software from CAN
Variable value contains a signature that must be written, before software upgrade starts
A write to this SDO will cause an unconditional jump to the boot loader. There is no return. If done by mistake, only a system reset restarts the node.
Object Description
INDEX 2009
Name Jump to BootLoader
Object Code Variable
Data Type UNSIGNED8
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x00
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Object 200Ah: Comm_parameters
Desciption of comm parameters
subindex 0: number of entries
subindex 1: CAN bit rate
subindex 2: CANopen NodeId

Stored in non-volatile memory
Object Description
INDEX 200A
Name Comm_parameters
Object Code Array
Data Type UNSIGNED16
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x2
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Sub-Index 001
Description CAN_bitrate
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x1f4
Lower Limit 0x14
Upper Limit 0x3E8
Unit kbit/sec
Sub-Index 002
Description CANopen_NodeId
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x15
Lower Limit 0x1
Upper Limit 0x7f
Unit -
Object 200Eh: Set Break Enable
Stored in non-volatile memory
Object Description
INDEX 200E
Name Set Break Enable
Object Code Array
Data Type UNSIGNED8
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x2
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Sub-Index 001
Description Set Break Enable [1]
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x01
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Sub-Index 002
Description Set Break Enable [2]
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x01
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Object 2010h: CSE status
Status word for CSE board
Bit 0 - Interlock, 1 = 0K, 0 = Not OK
Bit 1 - Mirror ON 
Bit 2 - Mirror OFF
Bit 3 - Stepper Motor power status, 1 = Powered, 0=Unpowered
Bit 4 - CAB Door, 1 = OK
Bit 5 - Safety OK, 1 = (Sensors_A == Sensors_B)
Bit 6 - Stepper motor status
Bit 7 - CSE Board Power OK, includes 24V logic, 5V logic and 3.3V logic supplies

Bit 8 - Alignment diode CAN, Readback from Control word
Bit 9 - User Command MODE, 1 = CAN MODE, 0 = HW signal
Bit 10 - User Command CAN, 1 = Switch ON, Readback from Control word
Bit 11 - System OK, 1 = OK
Bit 12 - Scatterlight, 1 = 0K
Bit 13 - FFBD GATE, 1 = OK
Bit 14 - Slave Module flag
Bit 15 - Laser Perm A & B, 0 = OK
Object Description
INDEX 2010
Name CSE status
Object Code Array
Data Type UNSIGNED16
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x2
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Sub-Index 001
Description CSE status[1]
Entry Category Optional
Access RO
PDO Mapping Yes
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFF
Unit -
Sub-Index 002
Description CSE status[2]
Entry Category Optional
Access RO
PDO Mapping Yes
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFF
Unit -
Object 2011h: FFBD 8 bit analog value

Object Description
INDEX 2011
Name FFBD 8 bit analog value
Object Code Array
Data Type UNSIGNED8
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x02
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Sub-Index 001
Description FFBD analog[1]
Entry Category Optional
Access RO
PDO Mapping Yes
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFF
Unit 5V/256
Sub-Index 002
Description FFBD analog[2]
Entry Category Optional
Access RO
PDO Mapping Yes
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFF
Unit 5V/256
Object 2012h: SCLD 8 bit analog value

Object Description
INDEX 2012
Name SCLD 8 bit analog value
Object Code Array
Data Type UNSIGNED8
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x02
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Sub-Index 001
Description Scatterlight analog[1]
Entry Category Optional
Access RO
PDO Mapping Yes
Default Value 0x00
Lower Limit 0x00
Upper Limit 0xFF
Unit 5V/256
Sub-Index 002
Description Scatterlight analog[2]
Entry Category Optional
Access RO
PDO Mapping Yes
Default Value 0x00
Lower Limit 0x00
Upper Limit 0xFF
Unit 5V/256
Object 2013h: Humidity
Humidity inside FFS, 0 - 100 %RH
Humidity is common for both branches.
Object Description
INDEX 2013
Name Humidity
Object Code Array
Data Type UNSIGNED8
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x02
Lower Limit 0x00
Upper Limit 0xFF
Unit %RH
Sub-Index 001
Description Humidity
Entry Category Optional
Access RO
PDO Mapping Yes
Default Value 0x0
Lower Limit 0x00
Upper Limit 0xFF
Unit %RH
Sub-Index 002
Description Humidity
Entry Category Optional
Access RO
PDO Mapping Yes
Default Value 0x0
Lower Limit 0x00
Upper Limit 0xFF
Unit %RH
Object 2014h: Beam Switch Counter

Object Description
INDEX 2014
Name Beam Switch Counter
Object Code Array
Data Type UNSIGNED32
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x02
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Sub-Index 001
Description Beam Switch Counter[1]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x00
Lower Limit 0x00000000
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Beam Switch Counter[2]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x00
Lower Limit 0x00000000
Upper Limit 0xFFFFFFFF
Unit -
Object 2015h: FFBD Threshold
Shadow parameter, for backward compatibility only
Object Description
INDEX 2015
Name FFBD Threshold
Object Code Array
Data Type UNSIGNED8
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x02
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Sub-Index 001
Description FFBD Threshold[1]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x0
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Sub-Index 002
Description FFBD Threshold[2]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x0
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Object 2016h: Scatterlight threshold
Shadow parameter, for backward compatibility only
Object Description
INDEX 2016
Name Scatterlight threshold
Object Code Array
Data Type UNSIGNED8
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x02
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Sub-Index 001
Description Scatterlight threshold[1]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x0
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Sub-Index 002
Description Scatterlight threshold[2]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x0
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Object 2017h: spare

Object Description
INDEX 2017
Name spare
Object Code Array
Data Type UNSIGNED8
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x2
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Sub-Index 001
Description reserved[1]
Entry Category Optional
Access RO
PDO Mapping Yes
Default Value 0x00
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Sub-Index 002
Description reserved[2]
Entry Category Optional
Access RO
PDO Mapping Yes
Default Value 0x00
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Object 2019h: Stepper Motor software version
Dummy parameters, for backward compatibility only
There is no separate stepper motor program for this product
Object Description
INDEX 2019
Name Stepper Motor software version
Object Code Array
Data Type UNSIGNED8
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x02
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Sub-Index 001
Description SM software[1]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x00
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Sub-Index 002
Description SM software[2]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x0
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Object 201Ah: FFS configuration
FFS configuration.
Bit 0 - Second Branch is installed
Bit 1 - Second Branch is installed as slave module
Bit 2 - Dip-switch 1, command mode 0: LCI, 1: CAN 
Bit 3 - Dip-switch 2, branches 0: 1/2, 1: 3/4
Bit 4 - First Branch is installed as variable energy share
Object Description
INDEX 201A
Name FFS configuration
Object Code Variable
Data Type UNSIGNED8
Category Optional
Entry Description
Access RO
PDO Mapping No
Default Value 0x1
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Object 201Bh: Read Angle

Object Description
INDEX 201B
Name Read Angle
Object Code Array
Data Type INTEGER8
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x2
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Sub-Index 001
Description Angle mirror[1]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x00
Lower Limit 0xE8
Upper Limit 0x18
Unit -
Sub-Index 002
Description Angle mirror[2]
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x00
Lower Limit 0xE8
Upper Limit 0x18
Unit -
Object 201Ch: CSE Board Status
Read Cse board status
subindex 3..5 are dummy lines for backward compatibility
HW support for var ES and alignment diode blocking is always present.
Rofin CAN protocol is not available for the new FFS
Object Description
INDEX 201C
Name CSE Board Status
Object Code Array
Data Type UNSIGNED16
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x05
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Sub-Index 001
Description Read EL Number
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x00
Lower Limit 0x00
Upper Limit 0xFFFF
Unit -
Sub-Index 002
Description CSE Hardware version
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFF
Unit -
Sub-Index 003
Description HW Support for Variable Energy Sharing
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x1
Lower Limit 0x0
Upper Limit 0xFFFF
Unit -
Sub-Index 004
Description HW Support for Alignment Diode Blocking
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x1
Lower Limit 0x0
Upper Limit 0xFFFF
Unit -
Sub-Index 005
Description Rofin CAN protocol software version
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFF
Unit N/A only for compatibility
Object 201Dh: FFBD 16 bit analog value

Object Description
INDEX 201D
Name FFBD 16 bit analog value
Object Code Array
Data Type UNSIGNED16
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x02
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Sub-Index 001
Description FFBD analog_16[1]
Entry Category Optional
Access RO
PDO Mapping Yes
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFF
Unit -
Sub-Index 002
Description FFBD analog_16[2]
Entry Category Optional
Access RO
PDO Mapping Yes
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFF
Unit -
Object 201Eh: SCLD 16 bit analog value
Setting of individual break enable functions.
Bit = 0 means no influence on Laser permission
Bit = 1 means Laser Permission is affected

Bit 0: Humidity break enabled
Bit 1: 
Bit 2: SCLD break enabled
Bit 3: FFBD break enabled
Object Description
INDEX 201E
Name SCLD 16 bit analog value
Object Code Array
Data Type UNSIGNED16
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x02
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Sub-Index 001
Description Scatterlight analog_16[1]
Entry Category Optional
Access RO
PDO Mapping Yes
Default Value 0x00
Lower Limit 0x00
Upper Limit 0xFFFF
Unit -
Sub-Index 002
Description Scatterlight analog_16[2]
Entry Category Optional
Access RO
PDO Mapping Yes
Default Value 0x00
Lower Limit 0x00
Upper Limit 0xFFFF
Unit -
Object 2029h: Total_time
32 bit seconds counter,
shows number of seconds the FFS has been powered
Object Description
INDEX 2029
Name Total_time
Object Code Variable
Data Type UNSIGNED32
Category Optional
Entry Description
Access RO
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit seconds
Object 202Ah: Process_time
32 bit process time counter,
shows number of seconds the FFS has detected Beam ON.
Object Description
INDEX 202A
Name Process_time
Object Code Variable
Data Type UNSIGNED32
Category Optional
Entry Description
Access RO
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit seconds
Object 2030h: Status Thresholds
Status of individual sensors
TRUE = 1 if measured level < threshold level
FALSE =0 if measured level > threshold level

Bit 0: Humidity Status
Bit 1: 
Bit 2: SCLD Status
Bit 3: FFBD Status
Object Description
INDEX 2030
Name Status Thresholds
Object Code Array
Data Type UNSIGNED8
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x02
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Sub-Index 001
Description Status Thresholds[1]
Entry Category Optional
Access RO
PDO Mapping Yes
Default Value 0x00
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Sub-Index 002
Description Status Thresholds[2]
Entry Category Optional
Access RO
PDO Mapping Yes
Default Value 0x00
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Object 2031h: Status Break Enable
Status of individual break enable functions. Mirrors 0x200E.

Bit = 0 means no influence on Laser permission
Bit = 1 means Laser Permission is affected

Bit 0: Humidity break enabled
Bit 1: 
Bit 2: SCLD break enabled
Bit 3: FFBD break enabled
Object Description
INDEX 2031
Name Status Break Enable
Object Code Array
Data Type UNSIGNED8
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x02
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Sub-Index 001
Description Status Break Enable[1]
Entry Category Optional
Access RO
PDO Mapping Yes
Default Value 0x01
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Sub-Index 002
Description Status Break Enable[2]
Entry Category Optional
Access RO
PDO Mapping Yes
Default Value 0x01
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Object 2032h: QD_comm
CAN communication of external QD fiber, when connected

0: Branch disconnected, default
1: Branch always connected
2: Auto connect, when mirror is ON


Reverts to default at reset.
Object Description
INDEX 2032
Name QD_comm
Object Code Array
Data Type UNSIGNED8
Category Optional
Entry Description
Sub-Index 000
Description Number of Entries
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x02
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Sub-Index 001
Description QD_enable[1]
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x00
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Sub-Index 002
Description QD_enable[2]
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x00
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Object 2051h: Data_string
Read only.
String is written into fiber via boot loader
at manufacturing time
Object Description
INDEX 2051
Name Data_string
Object Code Variable
Data Type VISIBLE_STRING
Category Optional
Entry Description
Access RO
PDO Mapping No
Default Value Optoskand dummy string for FFS2
Lower Limit -
Upper Limit -
Unit -




This document was created using CANopen Design Tool of
port GmbH, Regensburger Str. 7b, 06132 Halle, 03 May 2018