Documentation 2-9976AR01SW

Description

CANopen protocol for the QD Fiber Optic Cable.

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Table of Objects - Line 0


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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 QD fiber electronics
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 2-9976x01
Lower Limit -
Upper Limit -
Unit -
Object 100Ah: Manufacturer Software Version
Software revision. We use the term "revision" instead of "version", because version often refers to variants.

R00	development, not released
R01	first released revision. 
	No functional changes, nomenclature revised, 
	comments added, product info added
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 R01
Lower Limit -
Upper Limit -
Unit -
Object 1010h: Store Parameter Field
This entry supports saving of parameters in non volatile memory.
With a read access the device provides information about
its saving capabilities. Several parameter groups are distinguished.

Sub index 1      : all parameters
Sub index 2      : communication parameters
Sub index 3      : application parameters
Sub index 4 - 127: manufacturer defined parameters

For saving the signature "save" (0x65766173) must be written.
The CANopen library by port contains extensions for load ("load")
and clear ("kill").
Object Description
INDEX 1010
Name Store Parameter Field
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 0x03
Lower Limit 0x0
Upper Limit 0x7F
Unit -
Sub-Index 001
Description Save all Parameters
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Save Communication Parameters
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 003
Description Save Application Parameters
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Object 1011h: Restore Default Parameters
This entry supports restoring of default para- meters.
With a read access the device provides information about
its capabilities to restore these values.
Several parameter groups are distinguished.

Sub index 1      : all parameters
Sub index 2      : communication parameters
Sub index 3      : application parameters
Sub index 4 - 127: manufacturer defined parameters
c
For restoring the signature "load" (0x64616f6c) must be written.
Object Description
INDEX 1011
Name Restore Default Parameters
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 0x3
Lower Limit 0x0
Upper Limit 0x7F
Unit -
Sub-Index 001
Description Restore all Default Parameters
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Restore Communication Default Parameters
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 003
Description Restore Application Default Parameters
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
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
Remark: Short inhibit time, <10 msec, for TPDO2, TPDO3 will destroy timing for heartbeat. Heartbeat will be produced too fast. There is no need for heartbeat when TPDO produces data.
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 msec
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 0x10000
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 -
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.
An inhibit time can be defined on sub-index 3 in 100 Ás.
At the 5th sub-index can be defined a event time for asynchron pdos.
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 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.
At the 5th sub-index can be defined a event time for asynchron pdos.
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 0x2
Upper Limit 0x5
Unit -
Sub-Index 001
Description COB-ID
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x180
Lower Limit 0x1
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 0x0000
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.
At the 5th sub-index can be defined a event time for asynchron pdos.
Remark: Inhibit time will affect filtering for FFBD signal. 
Short inhibit time, <10 msec, will destroy timing for heartbeat.
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 0x280
Lower Limit 0x1
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.
At the 5th sub-index can be defined a event time for asynchron pdos.
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 0x380
Lower Limit 0x1
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 1A00h: TPDO Mapping Parameter 1
Contains the maping 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.
Allthree 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 RW
PDO Mapping No
Default Value 0x3
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Sub-Index 001
Description Mapping Entry 1
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x20300010
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Mapping Entry 2
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x20310010
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 003
Description Mapping Entry 3
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x20320010
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Object 1A01h: TPDO Mapping Parameter 2
Contains the maping 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.
Allthree 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 RW
PDO Mapping No
Default Value 0x05
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Sub-Index 001
Description Mapping Entry 1
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x20230010
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Mapping Entry 2
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x20220010
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 003
Description Mapping Entry 3
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x20200008
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 004
Description Mapping Entry 4
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x20210008
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 005
Description Mapping Entry 5
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x20280010
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Object 1A02h: TPDO Mapping Parameter 3
Contains the maping 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.
Allthree 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 RW
PDO Mapping No
Default Value 0x4
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Sub-Index 001
Description Mapping Entry 1
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x20240010
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 002
Description Mapping Entry 2
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x20250010
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 003
Description Mapping Entry 3
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x20260010
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Sub-Index 004
Description Mapping Entry 4
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x20270010
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit -
Object 2000h: Setpoint Temp TH

Object Description
INDEX 2000
Name Setpoint Temp TH
Object Code Variable
Data Type UNSIGNED8
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x32
Lower Limit 0x0
Upper Limit 0x64
Unit deg C
Object 2001h: Setpoint Humidity TH

Object Description
INDEX 2001
Name Setpoint Humidity TH
Object Code Variable
Data Type UNSIGNED8
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x50
Lower Limit 0x0
Upper Limit 0x64
Unit %RH
Object 2002h: Setpoint Delta_T TH
Unit is in deg C, 0-10 deg C
The analog reading of delta_T is in 1/100 deg C
Object Description
INDEX 2002
Name Setpoint Delta_T TH
Object Code Variable
Data Type UNSIGNED8
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0xA
Lower Limit 0x0
Upper Limit 0xFF
Unit deg C
Object 2003h: Setpoint FFBD TH

Object Description
INDEX 2003
Name Setpoint FFBD TH
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x8000
Lower Limit 0x0
Upper Limit 0xFFFF
Unit 5V / 65535
Object 2004h: Setpoint FFBD RED TH

Object Description
INDEX 2004
Name Setpoint FFBD RED TH
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x8000
Lower Limit 0x0
Upper Limit 0xFFFF
Unit 5V / 65535
Object 2005h: Setpoint FFBD GREEN TH

Object Description
INDEX 2005
Name Setpoint FFBD GREEN TH
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x8000
Lower Limit 0x0
Upper Limit 0xFFFF
Unit 5V / 65535
Object 2006h: Setpoint FFBD BLUE TH

Object Description
INDEX 2006
Name Setpoint FFBD BLUE TH
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x8000
Lower Limit 0x0
Upper Limit 0xFFFF
Unit 5V / 65535
Object 2007h: Setpoint FFBD EXT IR TH

Object Description
INDEX 2007
Name Setpoint FFBD EXT IR TH
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x8000
Lower Limit 0x0
Upper Limit 0xFFFF
Unit 5V / 65535
Object 2009h: Goto boot loader
For expert use only, use to upgrade software fron CAN
Variable value contains a signature that must be written, before software upgrade starts
Object Description
INDEX 2009
Name Goto boot loader
Object Code Variable
Data Type UNSIGNED32
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFFFF
Unit password "xxxx"
Object 200Ah: Comm_parameters
Desciption of comm parameters
subindex 0: number of entries
subindex 1: CAN bit rate
subindex 2: CANopen NodeId
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 RW
PDO Mapping No
Default Value 0x2
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Sub-Index 001
Description CAN_bitrate
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x1F4
Lower Limit 0x0
Upper Limit 0x3E8
Unit -
Sub-Index 002
Description CANopen_NodeId
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x3C
Lower Limit 0x0
Upper Limit 0x80
Unit -
Object 200Bh: QD PCB Hardware revision

Object Description
INDEX 200B
Name QD PCB Hardware revision
Object Code Variable
Data Type UNSIGNED8
Category Optional
Entry Description
Access RO
PDO Mapping No
Default Value 0x01
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Object 200Ch: QD_FIBER_number

Object Description
INDEX 200C
Name QD_FIBER_number
Object Code Variable
Data Type UNSIGNED32
Category Optional
Entry Description
Access RO
PDO Mapping No
Default Value 0x0000
Lower Limit 0x0
Upper Limit 0xFFFF
Unit -
Object 200Dh: QD_PCB_EL_number

Object Description
INDEX 200D
Name QD_PCB_EL_number
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RO
PDO Mapping No
Default Value 0x0000
Lower Limit 0x0
Upper Limit 0xFFFF
Unit -
Object 200Eh: Set Break Enable
This object corresponds to status objects 2030, 2031
Here you enable/disable break functions.
All functions are handled as single bits in one byte.

Status of individual break enable functions.
Bit = 0 means that break function is disabled
Bit = 1 means that break function is enabled,
interlock breaks if measured level is >threshold level
Default bit 0..3 are enabled

Bit 0: Temp break enable
Bit 1: Humidity break enable
Bit 2: Delta_T break enable
Bit 3: FFBD break enable
Bit 4: FFBD_RED break enable
Bit 5: FFBD_GREEN break enable
Bit 6: FFBD_BLUE break enable
Bit 7: FFBD_EXT_IR break enable

Bit 8: reserved(Temp derivative break enable)
Bit 9: reserved(Humidity derivative break enable)
Bit 10: reserved(Delta_T derivative break enable)
Bit 11: reserved(FFBD derivative break enable)
Bit 12: reserved(FFBD_RED derivative break enable)
Bit 13: reserved(FFBD_GREEN derivative break enable)
Bit 14: reserved(FFBD_BLUE derivative break enable)
Bit 15: reserved(FFBD_EXT_IR derivative break enable)
Object Description
INDEX 200E
Name Set Break Enable
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x000F
Lower Limit 0x0000
Upper Limit 0xFFFF
Unit -
Object 2010h: Setpoint Temp Derivative TH
Reserved for the future
Object Description
INDEX 2010
Name Setpoint Temp Derivative TH
Object Code Variable
Data Type UNSIGNED8
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Object 2011h: Setpoint Humidity Derivative TH
Reserved for the future
Object Description
INDEX 2011
Name Setpoint Humidity Derivative TH
Object Code Variable
Data Type UNSIGNED8
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Object 2012h: Setpoint Delta_T Derivative TH
Reserved for the future
Object Description
INDEX 2012
Name Setpoint Delta_T Derivative TH
Object Code Variable
Data Type UNSIGNED8
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Object 2013h: Setpoint FFBD Derivative TH
Reserved for the future
Object Description
INDEX 2013
Name Setpoint FFBD Derivative TH
Object Code Variable
Data Type UNSIGNED8
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Object 2014h: Setpoint FFBD RED Derivative TH
Reserved for future
Object Description
INDEX 2014
Name Setpoint FFBD RED Derivative TH
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x8000
Lower Limit 0x0
Upper Limit 0xFFFF
Unit -
Object 2015h: Setpoint FFBD GREEN Derivative TH
Reserved for future
Object Description
INDEX 2015
Name Setpoint FFBD GREEN Derivative TH
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x8000
Lower Limit 0x0
Upper Limit 0xFFFF
Unit -
Object 2016h: Setpoint FFBD BLUE Derivative TH
Reserved for future
Object Description
INDEX 2016
Name Setpoint FFBD BLUE Derivative TH
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x8000
Lower Limit 0x0
Upper Limit 0xFFFF
Unit -
Object 2017h: Setpoint FFBD EXT IR Derivative TH
Reserved for future
Object Description
INDEX 2017
Name Setpoint FFBD EXT IR Derivative TH
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x8000
Lower Limit 0x0
Upper Limit 0xFFFF
Unit -
Object 2018h: Setpoint Temp Trigger
Reserved for the future
Object Description
INDEX 2018
Name Setpoint Temp Trigger
Object Code Variable
Data Type UNSIGNED8
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFF
Unit -
Object 2019h: Setpoint Humidity Trigger
Reserved for the future
Object Description
INDEX 2019
Name Setpoint Humidity Trigger
Object Code Variable
Data Type UNSIGNED8
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x0
Lower Limit 0x00
Upper Limit 0xFF
Unit -
Object 201Ah: Setpoint Delta_T Trigger
Reserved for the future
Object Description
INDEX 201A
Name Setpoint Delta_T Trigger
Object Code Variable
Data Type UNSIGNED8
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFf
Unit -
Object 201Bh: Setpoint FFBD Trigger
Setting a trigger value >0 will cause analog values
to be sent only when the fiber is active, beam is ON.
It's very useful to avoid lot of useless CAN traffic
during the time a fiber is out of process
Object Description
INDEX 201B
Name Setpoint FFBD Trigger
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFF
Unit -
Object 201Ch: Setpoint FFBD_RED Trigger
Reserved for the future
Object Description
INDEX 201C
Name Setpoint FFBD_RED Trigger
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFF
Unit -
Object 201Dh: Setpoint FFBD_GREEN Trigger
Reserved for the future
Object Description
INDEX 201D
Name Setpoint FFBD_GREEN Trigger
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFF
Unit -
Object 201Eh: Setpoint FFBD_BLUE Trigger
Reserved for the future
Object Description
INDEX 201E
Name Setpoint FFBD_BLUE Trigger
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFF
Unit -
Object 201Fh: Setpoint FFBD_EXT_IR Trigger
Reserved for the future
Object Description
INDEX 201F
Name Setpoint FFBD_EXT_IR Trigger
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RW
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFF
Unit -
Object 2020h: Temp
Temperature is measured every AD conversion, but low pass filtered to surpress noise
Object Description
INDEX 2020
Name Temp
Object Code Variable
Data Type UNSIGNED8
Category Optional
Entry Description
Access RO
PDO Mapping Yes
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFF
Unit Deg C
Object 2021h: Humidity
Humidity is measured every AD conversion, but low pass filtered to surpress noise
Object Description
INDEX 2021
Name Humidity
Object Code Variable
Data Type UNSIGNED8
Category Optional
Entry Description
Access RO
PDO Mapping Yes
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFF
Unit %RH
Object 2022h: Delta_T
Delta_T is measured every AD conversion, but low pass filtered to surpress noise
Object Description
INDEX 2022
Name Delta_T
Object Code Variable
Data Type INTEGER16
Category Optional
Entry Description
Access RO
PDO Mapping Yes
Default Value 0x0000
Lower Limit 0x8000
Upper Limit 0x7FFF
Unit Deg C /100
Object 2023h: FFBD
FFBD is measured every AD conversion. Reported value is low pass filtered according to inhibit time for TPDO2.
Object Description
INDEX 2023
Name FFBD
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RO
PDO Mapping Yes
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFF
Unit 5V / 65535
Object 2024h: FFBD RED
measured value is momentary, not filtered
Object Description
INDEX 2024
Name FFBD RED
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RO
PDO Mapping Yes
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFF
Unit 5V / 65535
Object 2025h: FFBD GREEN
measured value is momentary, not filtered
Object Description
INDEX 2025
Name FFBD GREEN
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RO
PDO Mapping Yes
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFF
Unit 5V / 65535
Object 2026h: FFBD BLUE
measured value is momentary, not filtered
Object Description
INDEX 2026
Name FFBD BLUE
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RO
PDO Mapping Yes
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFF
Unit 5V / 65535
Object 2027h: FFBD EXT IR
measured value is momentary, not filtered
Object Description
INDEX 2027
Name FFBD EXT IR
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RO
PDO Mapping Yes
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFF
Unit 5V / 65535
Object 2028h: rtc_counter
8 bit rtc free running counter, increment every rtc interrupt (0.5 msec)
The intended use is to time relate PDO2 for fast mesurement rate.
Object Description
INDEX 2028
Name rtc_counter
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RO
PDO Mapping Yes
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFF
Unit 0.5 ms
Object 2029h: Total_time
32 bit seconds counter,
shows number of seconds the fiber 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 1 sec
Object 202Ah: Process_time
32 bit process time counter,
shows number of seconds the fiber has transmitted laser power
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 1 sec
Object 2030h: Status Thresholds
Status of individual parameters.
Bit = 1 means OK, under threshold
Bit = 0 means not OK, over threshold

Default value shall be OK for all bits, because reset
shall not initiate to False status.

Bit 0: Temp
Bit 1: Humidity
Bit 2: Delta_T
Bit 3: FFBD
Bit 4: FFBD_RED
Bit 5: FFBD_GREEN
Bit 6: FFBD_BLUE
Bit 7: FFBD_EXT_IR

Bit 8: reserved (Temp derivate)
Bit 9: reserved (Humidity derivate)
Bit 10: reserved (Delta_T derivate)
Bit 11: reserved (FFBD derivate)
Bit 12: reserved (FFBD_RED derivate)
Bit 13: reserved (FFBD_GREEN derivate)
Bit 14: reserved (FFBD_BLUE derivate)
Bit 15: reserved (FFBD_EXT_IR derivate)
Object Description
INDEX 2030
Name Status Thresholds
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RO
PDO Mapping Yes
Default Value 0xFFFF
Lower Limit 0x0
Upper Limit 0xFFFF
Unit -
Object 2031h: Status Break Enable
Status of individual break enable functions.
Bit = 1 means interlock breaks if measured level is >threshold level,
means that break function is enabled

Temp, Humidity, Delta_T, FFBD shall be enabled by default

Bit 0: Temp break enabled
Bit 1: Humidity break enabled
Bit 2: Delta_T break enabled
Bit 3: FFBD break enabled
Bit 4: FFBD_RED break enabled
Bit 5: FFBD_GREEN break enabled
Bit 6: FFBD_BLUE break enabled
Bit 7: FFBD_EXT_IR break enabled

Bit 8: reserved (Temp derivative break enabled)
Bit 9: reserved (Humidity derivative break enabled)
Bit 10: reserved (Delta_T derivative break enabled)
Bit 11: reserved (FFBD derivative break enabled)
Bit 12: reserved (FFBD_RED derivative break enabled)
Bit 13: reserved (FFBD_GREEN derivative break enabled)
Bit 14: reserved (FFBD_BLUE derivative break enabled)
Bit 15: reserved (FFBD_EXT_IR derivative break enabled)
Object Description
INDEX 2031
Name Status Break Enable
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RO
PDO Mapping Yes
Default Value 0x000F
Lower Limit 0x0
Upper Limit 0xFFFF
Unit -
Object 2032h: System_Status
Status bit for the system, replaces Status Mode in earlier versions
bit 0: Interlock forced break, 0 means OK, 1 means interlock forced broken
bit 1: Power_ON This bit is set at power ON, cleared when reported in event log
Default value = POWER_ON, cleared at first event log
bit 2: Beam ON. State change in this bit will cause an event log
bit 8: in earlier versions ment normal/PS mode.
Object Description
INDEX 2032
Name System_Status
Object Code Variable
Data Type UNSIGNED16
Category Optional
Entry Description
Access RO
PDO Mapping Yes
Default Value 0x0000
Lower Limit 0x0000
Upper Limit 0xFFFF
Unit -
Object 2040h: Clear_Total_time
For expert use only, password protected 
use to set/clear operating time
writing the password "nnnn" to variable will clear the variable
Object Description
INDEX 2040
Name Clear_Total_time
Object Code Variable
Data Type UNSIGNED32
Category Optional
Entry Description
Access WO
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit seconds
Object 2041h: Clear_Process_time
For expert use only, password protected
use to set/clear process time
writing the password "nnnn" to variable will clear the variable
Object Description
INDEX 2041
Name Clear_Process_time
Object Code Variable
Data Type UNSIGNED32
Category Optional
Entry Description
Access WO
PDO Mapping No
Default Value 0x0
Lower Limit 0x0
Upper Limit 0xFFFFFFFF
Unit seconds
Object 2051h: Fiber_Data_string
Read only.
String is written into fiber via boot loader
at manufacturing time
Object Description
INDEX 2051
Name Fiber_Data_string
Object Code Variable
Data Type VISIBLE_STRING
Category Optional
Entry Description
Access RO
PDO Mapping No
Default Value Optoskand dummy string for QD fiber Serial no length core diam
Lower Limit -
Upper Limit -
Unit -
Object 2052h: Set_Log_operation
subindex:
0: R/W number of entries
1: R/W number of unread alarm records
2: R/W number of unread event records
3: RO max number of logged alarm records
4: RO max number of logged event records
5: Clear alarm buffer, password protected
6: Clear event buffer, password protected
Object Description
INDEX 2052
Name Set_Log_operation
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 0x06
Lower Limit 0x0000
Upper Limit 0xFFFF
Unit -
Sub-Index 001
Description unread alarm records
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x0
Lower Limit 0x0000
Upper Limit 0xFFFF
Unit nr of records unread
Sub-Index 002
Description number of unread event records
Entry Category Optional
Access RW
PDO Mapping No
Default Value 0x0
Lower Limit 0x0000
Upper Limit 0xFFFF
Unit nr of records unread
Sub-Index 003
Description max number of logged alarm records
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x0
Lower Limit 0x0000
Upper Limit 0xFFFF
Unit max nr of records
Sub-Index 004
Description max number of logged event records
Entry Category Optional
Access RO
PDO Mapping No
Default Value 0x0
Lower Limit 0x0000
Upper Limit 0xFFFF
Unit max nr of records
Sub-Index 005
Description Clear_Alarm_Buffer
Entry Category Optional
Access WO
PDO Mapping No
Default Value 0x0
Lower Limit 0x0000
Upper Limit 0xFFFF
Unit -
Sub-Index 006
Description Clear_Event_Buffer
Entry Category Optional
Access WO
PDO Mapping No
Default Value 0x0
Lower Limit 0x0000
Upper Limit 0xFFFF
Unit -
Object 2060h: Read_alarm
Read oldest unread record from alarm logg.
Returns oldest unread alarm record, error if no unread records.

One alarm record contains:
First parameter contains 4 bytes, 
all other parameters contains 2 bytes

total_timer (seconds)
Temp (Deg C)
Humidity (%RH)
Delta_T (deg/100)
FFBD (5V=0xFFFF)
FFBD_RED (5V=0xFFFF)
FFBD_GREEN (5V=0xFFFF)
FFBD_BLUE (5V=0xFFFF)
FFBD_EXT_IR (5V=0xFFFF)
Status_Thresholds
Status_Break_Enable

Sensorvalue over threshold generates one alarm, independant of break enable. For a normal process, no alarms at all will be generated.
If the buffer is full, oldest record will be overwritten.
Object Description
INDEX 2060
Name Read_alarm
Object Code Variable
Data Type DOMAIN
Category Optional
Entry Description
Access RO
PDO Mapping No
Default Value NULL
Lower Limit -
Upper Limit -
Unit -
Object 2061h: Read_event
Read oldest unread record from event log.
Returns oldest unread event record, error if no unread records.
One event record contains:
total timer, 4bytes
process time, 4 bytes
System status, 2 bytes

Each Beam ON/OFF generates one event, so the buffer will increase fast for a normal workstation
If the buffer is full, oldest record will be overwritten.
Object Description
INDEX 2061
Name Read_event
Object Code Variable
Data Type DOMAIN
Category Optional
Entry Description
Access RO
PDO Mapping No
Default Value NULL
Lower Limit -
Upper Limit -
Unit -




This document was created using CANopen Design Tool of
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