To configure the gateway component, you have to perform the appropriate settings in the standard objects with the configuration software of your CANopen Master.
You can structure process data exchanged between the gateways application-specifically on the CANopen side using the process data object. For this purpose, CANopen uses mapping objects addressed via index and subindex
The gateway component supports the objects listed below. They comply with the specification DS302 (Version 4.02) of the CiA.
Extract from the specification DS302 (Version 4.02)
| Index | Object Name | Sub-Index | Description | Data Type | Access | Comment |
| 1000h | Device Type | 00h | Device Type | U32 | RO | 0000 0000h (No profile) |
| 1001h | Error register | 00h | Error register | U8 | RO | |
| 1003h | Pre-defined error field | 00h | Number of errors | U8 | RW | |
| 01h… 08h | Error field | U32 | RO | |||
| 1005h | COB-ID Sync | 00h | COB-ID Sync | U32 | RW | Default value is 0000 0080h |
| 1006h | Communication cycle period | 00h | Defines the sync intervall | U32 | RW | Default value is 0000 0000h |
| 1008h | Manufacturer device name | 00h | Manufacturer device name | Visible string | RO | „KUNBUS-GW CANopen“ |
| 1009h | Manufacturer hardware version | 00h | Manufacturer hardware version | Visible string | RO | 1.0 |
| 100Ah | Manufacturer software version | 00h | Manufacturer software version | Visible string | RO | 1.0 |
| 100Ch | Guard time | 00h | Guard time | U16 | RW | |
| 100Dh | Life time factor | 00h | Life time factor | U8 | RW | |
| 1010h | Store Parameters | 00h | Largest sub index supported | U8 | RO | 01h |
| 01h | Save all parameters | U32 | RW | Baud rate and Node ID cannot be stored using this command. | ||
| 1011h | Restore parameters | 00h | Largest sub index supported | U8 | RO | 01h |
| 01h | Restore all default parameters | U32 | RW | |||
| 1014h | COB ID EMCY | 00h | COB ID EMCY | U32 | RO | Default value is 80h + Node-ID |
| 1015h | Inhibit Time EMCY | 00h | Inhibit Time EMCY | U16 | RW | Default value is 0000h |
| 1016h | Consumer Heartbeat Time | 00h | Number of entries | U8 | RO | 01h |
| 01h | Consumer Heartbeat Time | U32 | RW | Node ID + Heartbeat Time. Value must be a multiple of 1ms.
Default value is 0000h |
||
| 1017h | Producer Heartbeat Time | 00h | Producer Heartbeat Time | U16 | RW | Default value is 0000h |
| 1018h | Identity object | 00h | Number of entries | U8 | RO | 04h |
| 01h | Vendor ID | U32 | RO | 000002D5h | ||
| 02h | Product Code | U32 | RO | 71 | ||
| 03h | Revision Number | U32 | RO | 00010000h | ||
| 04h | Serial Number | U32 | RO | |||
| 1400h
… 1407h |
Receive PDO parameter | 00h | Largest sub-index supported | U8 | RO | 02h |
| 01h | COB ID used by PDO | U32 | RW | |||
| 02h | Transmission type | U8 | RW | |||
| 1600h
… 1607h |
Receive PDO mapping | 00h | No. of mapped application objects in PDO | U8 | RW | |
| 01h | Mapped object #1 | U32 | RW | |||
| 02h | Mapped object #2 | U32 | RW | |||
| 03h | Mapped object #3 | U32 | RW | |||
| 04h | Mapped object #4 | U32 | RW | |||
| 05h | Mapped object #5 | U32 | RW | |||
| 06h | Mapped object #6 | U32 | RW | |||
| 07h | Mapped object #7 | U32 | RW | |||
| 08h | Mapped object #8 | U32 | RW | |||
| 1800h
… 1807h |
Transmit PDO
parameter |
00h | Largest sub-index supported | U8 | RO | 05h |
| 01h | COB ID used by PDO | U32 | RW | |||
| 02h | Transmission type | U8 | RW | |||
| 03h | Inhibit time | U16 | RW | |||
| 05h | Event Timer (ms) | U16 | RW | |||
| 1A00h
… 1A07h |
Transmit PDO mapping | 00h | No. of mapped application objects in PDO | U8 | RW | |
| 01h | Mapped object #1 | U32 | RW | |||
| 02h | Mapped object #2 | U32 | RW | |||
| 03h | Mapped object #3 | U32 | RW | |||
| 04h | Mapped object #4 | U32 | RW | |||
| 05h | Mapped object #5 | U32 | RW | |||
| 06h | Mapped object #6 | U32 | RW | |||
| 07h | Mapped object #7 | U32 | RW | |||
| 08h | Mapped object #8 | U32 | RW |
Fieldbus Output Data (Direction Master)
With these objects you can read process data that the gateway component sends to the Master. You have 3 possible access types:
- Byte
- Word
- Doubleword
| Index | Object Name | Sub-Index | Description | Data Type | Access | Remark |
| 2000h | Output Buffer | 00h | Number of entries | U8 | RO | Access type: Byte |
| 01h | Output Buffer Byte #0 | U8 | RO | |||
| 02h | Output Buffer Byte #1 | |||||
| … | … | |||||
| 80h | Output Buffer Byte #127 | |||||
| 2001h | Output Buffer | 00h | Number of entries | U8 | RO | |
| 01h | Output Buffer Byte #128 | U8 | RO | |||
| 02h | Output Buffer Byte #129 | |||||
| … | … | |||||
| 80h | Output Buffer Byte #255 | |||||
| 2002h | Output Buffer | 00h | Number of entries | U8 | RO | |
| 01h | Output Buffer Byte #256 | U8 | RO | |||
| 02h | Output Buffer Byte #257 | |||||
| … | … | |||||
| 80h | Output Buffer Byte #383 | |||||
| 2003h | Output Buffer | 00h | Number of entries | U8 | RO | |
| 01h | Output Buffer Byte #384 | U8 | RO | |||
| 02h | Output Buffer Byte #385 | |||||
| … | … | |||||
| 80h | Output Buffer Byte #511 | |||||
| 2010h | Output Buffer | 00h | Number of entries | U8 | RO | Access type: Word |
| 01h | Output Buffer Word #0 | U16 | RO | |||
| 02h | Output Buffer Word #1 | |||||
| … | … | |||||
| 40h | Output Buffer Word #63 | |||||
| 2011h | Output Buffer | 00h | Number of entries | U8 | RO | |
| 01h | Output Buffer Word #64 | U16 | RO | |||
| 02h | Output Buffer Word #65 | |||||
| … | … | |||||
| 40h | Output Buffer Word #127 | |||||
| 2012h | Output Buffer | 00h | Number of entries | U8 | RO | Access type: Word |
| 01h | Output Buffer Word #128 | U16 | RO | |||
| 02h | Output Buffer Word #129 | |||||
| … | … | |||||
| 40h | Output Buffer Word #191 | |||||
| 2013h | Output Buffer | 00h | Number of entries | U8 | RO | |
| 01h | Output Buffer Word #192 | U16 | RO | |||
| 02h | Output Buffer Word #193 | |||||
| … | … | |||||
| 40h | Output Buffer Word #255 | |||||
| 2020h | Output Buffer | 00h | Number of entries | U8 | RO | Access type: Doubleword |
| 01h | Output Buffer DWord #0 | U32 | RO | |||
| 02h | Output Buffer DWord #1 | |||||
| … | … | |||||
| 20h | Output Buffer DWord #31 | |||||
| 2021h | Output Buffer | 00h | Number of entries | U8 | RO | |
| 01h | Output Buffer DWord #32 | U32 | RO | |||
| 02h | Output Buffer DWord #33 | |||||
| … | … | |||||
| 20h | Output Buffer DWord #63 | |||||
| 2022h | Output Buffer | 00h | Number of entries | U8 | RO | Access type: Doubleword |
| 01h | Output Buffer DWord #64 | U32 | RO | |||
| 02h | Output Buffer DWord #65 | |||||
| … | … | |||||
| 20h | Output Buffer DWord #95 | |||||
| 2023h | Output Buffer | 00h | Number of entries | U8 | RO | |
| 01h | Output Buffer DWord #96 | U32 | RO | |||
| 02h | Output Buffer DWord #97 | |||||
| … | … | |||||
| 20h | Output Buffer DWord #127 | |||||
| 2200h | Properties of the partner gateway component | 00h | Number of entries | U8 | RO | |
| 01h | Input size | U16 | RO | |||
| 02h | Output size | U16 | RO | |||
| 03h | Module type | U16 | RO | 71 | ||
| 04h | Fieldbus state | U8 | RO | s. Table Fieldbus Status |
Fieldbus status
| Value | Meaning |
| 0x00 | Fieldbus not connected. Check all connections |
| 0x01 | Fieldbus connected, no data communication. Check whether a node ID is set |
| 0x02 | Gateway component configured, no data communication |
| 0x03 | Cyclical data exchange |
Fieldbus Input Data (from the Master)
With these objects you can read process data that the CANopen-Master sends to the gateway component. You have 3 possible access types:
- Byte
- Word
- Doubleword
| Index | Object Name | Sub-Index | Description | Data Type | Access | Comment |
| 2100h | Input Buffer | 00h | Number of entries | U8 | RO | Access type: Byte |
| 01h | Input Buffer Byte #0 | U8 | RO | |||
| 02h | Input Buffer Byte #1 | |||||
| … | … | |||||
| 80h | Input Buffer Byte #127 | |||||
| 2101h | Input Buffer | 00h | Number of entries | U8 | RO | |
| 01h | Input Buffer Byte #128 | U8 | RO | |||
| 02h | Input Buffer Byte #129 | |||||
| … | … | |||||
| 80h | Input Buffer Byte #255 | |||||
| 2102h | Input Buffer | 00h | Number of entries | U8 | RO | Access type: Byte |
| 01h | Input Buffer Byte #256 | U8 | RO | |||
| 02h | Input Buffer Byte #257 | |||||
| … | … | |||||
| 80h | Input Buffer Byte #383 | |||||
| 2103h | Input Buffer | 00h | Number of entries | U8 | RO | |
| 01h | Input Buffer Byte #384 | U8 | RO | |||
| 02h | Input Buffer Byte #385 | |||||
| … | … | |||||
| 80h | Input Buffer Byte #511 | |||||
| 2110h | Input Buffer | 00h | Number of entries | U8 | RO | Access type: Word |
| 01h | Input Buffer Word #0 | U16 | RO | |||
| 02h | Input Buffer Word #1 | |||||
| … | … | |||||
| 40h | Input Buffer Word #63 | |||||
| 2111h | Input Buffer | 00h | Number of entries | U8 | RO | |
| 01h | Input Buffer Word #64 | U16 | RO | |||
| 02h | Input Buffer Word #65 | |||||
| … | … | |||||
| 40h | Input Buffer Word #127 | |||||
| 2112h | Input Buffer | 00h | Number of entries | U8 | RO | Access type: Word |
| 01h | Input Buffer Word #128 | U16 | RO | |||
| 02h | Input Buffer Word #129 | |||||
| … | … | |||||
| 40h | Input Buffer Word #191 | |||||
| 2113h | Input Buffer | 00h | Number of entries | U8 | RO | |
| 01h | Input Buffer Word #192 | U16 | RO | |||
| 02h | Input Buffer Word #193 | |||||
| … | … | |||||
| 40h | Input Buffer Word #255 | |||||
| 2120h | Input Buffer | 00h | Number of entries | U8 | RO | Access type: Doubleword |
| 01h | Input Buffer DWord #0 | U32 | RO | |||
| 02h | Input Buffer DWord #1 | |||||
| … | … | |||||
| 20h | Input Buffer DWord #31 | |||||
| 2121h | Input Buffer | 00h | Number of entries | U8 | RO | |
| 01h | Input Buffer DWord #32 | U32 | RO | |||
| 02h | Input Buffer DWord #33 | |||||
| … | … | |||||
| 20h | Input Buffer DWord #63 | |||||
| 2122h | Input Buffer | 00h | Number of entries | U8 | RO | Access type: Doubleword |
| 01h | Input Buffer DWord #64 | U32 | RO | |||
| 02h | Input Buffer DWord #65 | |||||
| … | … | |||||
| 20h | Input Buffer DWord #95 | |||||
| 2123h | Input Buffer | 00h | Number of entries | U8 | RO | |
| 01h | Input Buffer DWord #96 | U32 | RO | |||
| 02h | Input Buffer DWord #97 | |||||
| … | … | |||||
| 20h | Input Buffer DWord #127 |