How to Configure RevPi Gate for CANopen

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
1003h	Pre-defined error field	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
1010h	Store Parameters	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
1011h	Restore parameters	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
1016h	Consumer Heartbeat Time	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