CANopen device documentation
XSTD IMU
|
|
| Project File |
imu.xdd |
| File Version |
4 |
| Created |
2025/5/13 10:00:09 |
| Created By |
KisonHe |
| Modified |
2025/6/10 18:33:01 |
| Modified By |
|
This file was automatically generated by CANopenEditor v4.2.3-0-gc1071ab+c1071ab3197f9bbf718123ec5bbabf449b2f7bab
|
|
| Vendor Name |
hexfellow |
| Vendor ID |
0x00686578 |
| Product Name |
XSTD IMU |
| Product ID |
0x00005723 |
| Granularity |
8 |
| RPDO count |
0 |
| TPDO count |
4 |
| LSS Slave |
False |
| LSS Master |
False |
| NG Slave |
False |
| NG Master |
False |
Supported Baud rates
- [ ] 10 kBit/s
- [ ] 20 kBit/s
- [ ] 50 kBit/s
- [ ] 125 kBit/s
- [ ] 250 kBit/s
- [x] 500 kBit/s
- [ ] 800 kBit/s
- [x] 1000 kBit/s
- [ ] auto
PDO Mapping
TPDO 0x1800
|
|
| COB_ID |
$NODEID+0xC0000180 |
| Transmission |
type=254; inhibit-time=0; event-timer=0 |
| 0x60000110 |
Quaternion (QuaternionW) |
| 0x60000210 |
Quaternion (QuaternionX) |
| 0x60000310 |
Quaternion (QuaternionY) |
| 0x60000410 |
Quaternion (QuaternionZ) |
TPDO 0x1801
|
|
| COB_ID |
$NODEID+0xC0000280 |
| Transmission |
type=254; inhibit-time=0; event-timer=0 |
| 0x60010210 |
Angular Velocity (Angular Velocity X) |
| 0x60010310 |
Angular Velocity (Angular Velocity Y) |
| 0x60010410 |
Angular Velocity (Angular Velocity Z) |
TPDO 0x1802
|
|
| COB_ID |
$NODEID+0xC0000380 |
| Transmission |
type=254; inhibit-time=0; event-timer=0 |
| 0x60020210 |
Linear Acceleration (Linear Acceleration X) |
| 0x60020310 |
Linear Acceleration (Linear Acceleration Y) |
| 0x60020410 |
Linear Acceleration (Linear Acceleration Z) |
TPDO 0x1803
|
|
| COB_ID |
$NODEID+0xC0000480 |
| Transmission |
type=254; inhibit-time=0; event-timer=0 |
| 0x60030210 |
MagneticField (MagneticField X) |
| 0x60030310 |
MagneticField (MagneticField Y) |
| 0x60030410 |
MagneticField (MagneticField Z) |
Communication Specific Parameters
0x1001 - Error register
| Object Type |
Count Label |
Storage Group |
| VAR |
EM |
RAM |
| Data Type |
SDO |
PDO |
SRDO |
Default Value |
| UNSIGNED8 |
ro |
t |
no |
0x00 |
- bit 7: manufacturer specific
- bit 6: Reserved (always 0)
- bit 5: device profile specific
- bit 4: communication error (overrun, error state)
- bit 3: temperature
- bit 2: voltage
- bit 1: current
- bit 0: generic error
0x1017 - Producer heartbeat time
| Object Type |
Count Label |
Storage Group |
| VAR |
HB_PROD |
RAM |
| Data Type |
SDO |
PDO |
SRDO |
Default Value |
| UNSIGNED16 |
rw |
no |
no |
500 |
Heartbeat producer time in ms (0 = disable transmission).
0x1018 - Identity
| Object Type |
Count Label |
Storage Group |
| RECORD |
|
PERSIST_COMM |
| Sub |
Name |
Data Type |
SDO |
PDO |
SRDO |
Default Value |
| 0x00 |
Highest sub-index supported |
UNSIGNED8 |
ro |
no |
no |
0x04 |
| 0x01 |
Vendor-ID |
UNSIGNED32 |
ro |
no |
no |
0x00686578 |
| 0x02 |
Product code |
UNSIGNED32 |
ro |
no |
no |
0x30303259 |
| 0x03 |
Revision number |
UNSIGNED32 |
ro |
no |
no |
0x00000000 |
| 0x04 |
Serial number |
UNSIGNED32 |
ro |
no |
no |
0x00000000 |
- Vendor-ID, assigned by CiA
- Product code, manufacturer specific
- Revision number:
- bit 16-31: Major revision number (CANopen behavior has changed)
- bit 0-15: Minor revision num. (CANopen behavior has not changed)
- Serial number, manufacturer specific
Y200
0x1800 - TPDO communication parameter
| Object Type |
Count Label |
Storage Group |
| RECORD |
TPDO |
PERSIST_COMM |
| Sub |
Name |
Data Type |
SDO |
PDO |
SRDO |
Default Value |
| 0x00 |
Highest sub-index supported |
UNSIGNED8 |
ro |
no |
no |
0x06 |
| 0x01 |
COB-ID used by TPDO |
UNSIGNED32 |
rw |
no |
no |
$NODEID+0xC0000180 |
| 0x02 |
Transmission type |
UNSIGNED8 |
rw |
no |
no |
254 |
| 0x03 |
Inhibit time |
UNSIGNED16 |
rw |
no |
no |
0 |
| 0x05 |
Event timer |
UNSIGNED16 |
rw |
no |
no |
0 |
| 0x06 |
SYNC start value |
UNSIGNED8 |
rw |
no |
no |
0 |
- COB-ID used by RPDO:
- bit 31: If set, PDO does not exist / is not valid
- bit 30: If set, NO RTR is allowed on this PDO
- bit 11-29: set to 0
- bit 0-10: 11-bit CAN-ID
- Transmission type:
- Value 0: synchronous (acyclic)
- Value 1-240: synchronous (cyclic every (1-240)-th sync)
- Value 241-253: not used
- Value 254: event-driven (manufacturer-specific)
- Value 255: event-driven (device profile and application profile specific)
- Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled).
- Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled).
- SYNC start value
- Value 0: Counter of the SYNC message shall not be processed.
- Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message.
0x1801 - TPDO communication parameter
| Object Type |
Count Label |
Storage Group |
| RECORD |
TPDO |
PERSIST_COMM |
| Sub |
Name |
Data Type |
SDO |
PDO |
SRDO |
Default Value |
| 0x00 |
Highest sub-index supported |
UNSIGNED8 |
ro |
no |
no |
0x06 |
| 0x01 |
COB-ID used by TPDO |
UNSIGNED32 |
rw |
no |
no |
$NODEID+0xC0000280 |
| 0x02 |
Transmission type |
UNSIGNED8 |
rw |
no |
no |
254 |
| 0x03 |
Inhibit time |
UNSIGNED16 |
rw |
no |
no |
0 |
| 0x05 |
Event timer |
UNSIGNED16 |
rw |
no |
no |
0 |
| 0x06 |
SYNC start value |
UNSIGNED8 |
rw |
no |
no |
0 |
- COB-ID used by RPDO:
- bit 31: If set, PDO does not exist / is not valid
- bit 30: If set, NO RTR is allowed on this PDO
- bit 11-29: set to 0
- bit 0-10: 11-bit CAN-ID
- Transmission type:
- Value 0: synchronous (acyclic)
- Value 1-240: synchronous (cyclic every (1-240)-th sync)
- Value 241-253: not used
- Value 254: event-driven (manufacturer-specific)
- Value 255: event-driven (device profile and application profile specific)
- Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled).
- Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled).
- SYNC start value
- Value 0: Counter of the SYNC message shall not be processed.
- Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message.
0x1802 - TPDO communication parameter
| Object Type |
Count Label |
Storage Group |
| RECORD |
TPDO |
PERSIST_COMM |
| Sub |
Name |
Data Type |
SDO |
PDO |
SRDO |
Default Value |
| 0x00 |
Highest sub-index supported |
UNSIGNED8 |
ro |
no |
no |
0x06 |
| 0x01 |
COB-ID used by TPDO |
UNSIGNED32 |
rw |
no |
no |
$NODEID+0xC0000380 |
| 0x02 |
Transmission type |
UNSIGNED8 |
rw |
no |
no |
254 |
| 0x03 |
Inhibit time |
UNSIGNED16 |
rw |
no |
no |
0 |
| 0x05 |
Event timer |
UNSIGNED16 |
rw |
no |
no |
0 |
| 0x06 |
SYNC start value |
UNSIGNED8 |
rw |
no |
no |
0 |
- COB-ID used by RPDO:
- bit 31: If set, PDO does not exist / is not valid
- bit 30: If set, NO RTR is allowed on this PDO
- bit 11-29: set to 0
- bit 0-10: 11-bit CAN-ID
- Transmission type:
- Value 0: synchronous (acyclic)
- Value 1-240: synchronous (cyclic every (1-240)-th sync)
- Value 241-253: not used
- Value 254: event-driven (manufacturer-specific)
- Value 255: event-driven (device profile and application profile specific)
- Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled).
- Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled).
- SYNC start value
- Value 0: Counter of the SYNC message shall not be processed.
- Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message.
0x1803 - TPDO communication parameter
| Object Type |
Count Label |
Storage Group |
| RECORD |
TPDO |
PERSIST_COMM |
| Sub |
Name |
Data Type |
SDO |
PDO |
SRDO |
Default Value |
| 0x00 |
Highest sub-index supported |
UNSIGNED8 |
ro |
no |
no |
0x06 |
| 0x01 |
COB-ID used by TPDO |
UNSIGNED32 |
rw |
no |
no |
$NODEID+0xC0000480 |
| 0x02 |
Transmission type |
UNSIGNED8 |
rw |
no |
no |
254 |
| 0x03 |
Inhibit time |
UNSIGNED16 |
rw |
no |
no |
0 |
| 0x05 |
Event timer |
UNSIGNED16 |
rw |
no |
no |
0 |
| 0x06 |
SYNC start value |
UNSIGNED8 |
rw |
no |
no |
0 |
- COB-ID used by RPDO:
- bit 31: If set, PDO does not exist / is not valid
- bit 30: If set, NO RTR is allowed on this PDO
- bit 11-29: set to 0
- bit 0-10: 11-bit CAN-ID
- Transmission type:
- Value 0: synchronous (acyclic)
- Value 1-240: synchronous (cyclic every (1-240)-th sync)
- Value 241-253: not used
- Value 254: event-driven (manufacturer-specific)
- Value 255: event-driven (device profile and application profile specific)
- Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled).
- Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled).
- SYNC start value
- Value 0: Counter of the SYNC message shall not be processed.
- Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message.
0x1A00 - TPDO mapping parameter
| Object Type |
Count Label |
Storage Group |
| RECORD |
|
PERSIST_COMM |
| Sub |
Name |
Data Type |
SDO |
PDO |
SRDO |
Default Value |
| 0x00 |
Number of mapped application objects in PDO |
UNSIGNED8 |
rw |
no |
no |
4 |
| 0x01 |
Application object 1 |
UNSIGNED32 |
rw |
no |
no |
0x60000110 |
| 0x02 |
Application object 2 |
UNSIGNED32 |
rw |
no |
no |
0x60000210 |
| 0x03 |
Application object 3 |
UNSIGNED32 |
rw |
no |
no |
0x60000310 |
| 0x04 |
Application object 4 |
UNSIGNED32 |
rw |
no |
no |
0x60000410 |
| 0x05 |
Application object 5 |
UNSIGNED32 |
rw |
no |
no |
0x00000000 |
| 0x06 |
Application object 6 |
UNSIGNED32 |
rw |
no |
no |
0x00000000 |
| 0x07 |
Application object 7 |
UNSIGNED32 |
rw |
no |
no |
0x00000000 |
| 0x08 |
Application object 8 |
UNSIGNED32 |
rw |
no |
no |
0x00000000 |
- Number of mapped application objects in PDO:
- Value 0: mapping is disabled.
- Value 1: sub-index 0x01 is valid.
- Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.
- Application object 1-8:
- bit 16-31: index
- bit 8-15: sub-index
- bit 0-7: data length in bits
0x1A01 - TPDO mapping parameter
| Object Type |
Count Label |
Storage Group |
| RECORD |
|
PERSIST_COMM |
| Sub |
Name |
Data Type |
SDO |
PDO |
SRDO |
Default Value |
| 0x00 |
Number of mapped application objects in PDO |
UNSIGNED8 |
rw |
no |
no |
3 |
| 0x01 |
Application object 1 |
UNSIGNED32 |
rw |
no |
no |
0x60010210 |
| 0x02 |
Application object 2 |
UNSIGNED32 |
rw |
no |
no |
0x60010310 |
| 0x03 |
Application object 3 |
UNSIGNED32 |
rw |
no |
no |
0x60010410 |
| 0x04 |
Application object 4 |
UNSIGNED32 |
rw |
no |
no |
0x00000000 |
| 0x05 |
Application object 5 |
UNSIGNED32 |
rw |
no |
no |
0x00000000 |
| 0x06 |
Application object 6 |
UNSIGNED32 |
rw |
no |
no |
0x00000000 |
| 0x07 |
Application object 7 |
UNSIGNED32 |
rw |
no |
no |
0x00000000 |
| 0x08 |
Application object 8 |
UNSIGNED32 |
rw |
no |
no |
0x00000000 |
- Number of mapped application objects in PDO:
- Value 0: mapping is disabled.
- Value 1: sub-index 0x01 is valid.
- Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.
- Application object 1-8:
- bit 16-31: index
- bit 8-15: sub-index
- bit 0-7: data length in bits
0x1A02 - TPDO mapping parameter
| Object Type |
Count Label |
Storage Group |
| RECORD |
|
PERSIST_COMM |
| Sub |
Name |
Data Type |
SDO |
PDO |
SRDO |
Default Value |
| 0x00 |
Number of mapped application objects in PDO |
UNSIGNED8 |
rw |
no |
no |
3 |
| 0x01 |
Application object 1 |
UNSIGNED32 |
rw |
no |
no |
0x60020210 |
| 0x02 |
Application object 2 |
UNSIGNED32 |
rw |
no |
no |
0x60020310 |
| 0x03 |
Application object 3 |
UNSIGNED32 |
rw |
no |
no |
0x60020410 |
| 0x04 |
Application object 4 |
UNSIGNED32 |
rw |
no |
no |
0x00000000 |
| 0x05 |
Application object 5 |
UNSIGNED32 |
rw |
no |
no |
0x00000000 |
| 0x06 |
Application object 6 |
UNSIGNED32 |
rw |
no |
no |
0x00000000 |
| 0x07 |
Application object 7 |
UNSIGNED32 |
rw |
no |
no |
0x00000000 |
| 0x08 |
Application object 8 |
UNSIGNED32 |
rw |
no |
no |
0x00000000 |
- Number of mapped application objects in PDO:
- Value 0: mapping is disabled.
- Value 1: sub-index 0x01 is valid.
- Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.
- Application object 1-8:
- bit 16-31: index
- bit 8-15: sub-index
- bit 0-7: data length in bits
0x1A03 - TPDO mapping parameter
| Object Type |
Count Label |
Storage Group |
| RECORD |
|
PERSIST_COMM |
| Sub |
Name |
Data Type |
SDO |
PDO |
SRDO |
Default Value |
| 0x00 |
Number of mapped application objects in PDO |
UNSIGNED8 |
rw |
no |
no |
3 |
| 0x01 |
Application object 1 |
UNSIGNED32 |
rw |
no |
no |
0x60030210 |
| 0x02 |
Application object 2 |
UNSIGNED32 |
rw |
no |
no |
0x60030310 |
| 0x03 |
Application object 3 |
UNSIGNED32 |
rw |
no |
no |
0x60030410 |
| 0x04 |
Application object 4 |
UNSIGNED32 |
rw |
no |
no |
0x00000000 |
| 0x05 |
Application object 5 |
UNSIGNED32 |
rw |
no |
no |
0x00000000 |
| 0x06 |
Application object 6 |
UNSIGNED32 |
rw |
no |
no |
0x00000000 |
| 0x07 |
Application object 7 |
UNSIGNED32 |
rw |
no |
no |
0x00000000 |
| 0x08 |
Application object 8 |
UNSIGNED32 |
rw |
no |
no |
0x00000000 |
- Number of mapped application objects in PDO:
- Value 0: mapping is disabled.
- Value 1: sub-index 0x01 is valid.
- Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.
- Application object 1-8:
- bit 16-31: index
- bit 8-15: sub-index
- bit 0-7: data length in bits
Manufacturer Specific Parameters
Device Profile Specific Parameters
0x6000 - Quaternion
| Object Type |
Count Label |
Storage Group |
| RECORD |
|
RAM |
| Sub |
Name |
Data Type |
SDO |
PDO |
SRDO |
Default Value |
| 0x00 |
Highest sub-index supported |
UNSIGNED8 |
ro |
no |
no |
0x04 |
| 0x01 |
QuaternionW |
INTEGER16 |
ro |
t |
no |
0 |
| 0x02 |
QuaternionX |
INTEGER16 |
ro |
t |
no |
0 |
| 0x03 |
QuaternionY |
INTEGER16 |
ro |
t |
no |
0 |
| 0x04 |
QuaternionZ |
INTEGER16 |
ro |
t |
no |
0 |
Mapping -32767 to -1.0, and 32767 to 1.0
Mapping -32767 to -1.0, and 32767 to 1.0
Mapping -32767 to -1.0, and 32767 to 1.0
Mapping -32767 to -1.0, and 32767 to 1.0
0x6001 - Angular Velocity
| Object Type |
Count Label |
Storage Group |
| RECORD |
|
RAM |
| Sub |
Name |
Data Type |
SDO |
PDO |
SRDO |
Default Value |
| 0x00 |
Highest sub-index supported |
UNSIGNED8 |
ro |
no |
no |
0x04 |
| 0x01 |
Map Range |
REAL32 |
ro |
no |
no |
0 |
| 0x02 |
Angular Velocity X |
INTEGER16 |
ro |
t |
tx |
0 |
| 0x03 |
Angular Velocity Y |
INTEGER16 |
ro |
t |
tx |
0 |
| 0x04 |
Angular Velocity Z |
INTEGER16 |
ro |
t |
tx |
0 |
I16 times this to get rand/s unit
Value times Map Range gets you the final Velocity
Value times Map Range gets you the final Velocity
Value times Map Range gets you the final Velocity
0x6002 - Linear Acceleration
| Object Type |
Count Label |
Storage Group |
| RECORD |
|
RAM |
| Sub |
Name |
Data Type |
SDO |
PDO |
SRDO |
Default Value |
| 0x00 |
Highest sub-index supported |
UNSIGNED8 |
ro |
no |
no |
0x04 |
| 0x01 |
Map Range |
REAL32 |
ro |
no |
no |
0 |
| 0x02 |
Linear Acceleration X |
INTEGER16 |
ro |
t |
tx |
0 |
| 0x03 |
Linear Acceleration Y |
INTEGER16 |
ro |
t |
tx |
0 |
| 0x04 |
Linear Acceleration Z |
INTEGER16 |
ro |
t |
tx |
0 |
I16 times this to get m/s2 unit
Value times Map Range gets you the final value
Value times Map Range gets you the final value
Value times Map Range gets you the final value
0x6003 - MagneticField
| Object Type |
Count Label |
Storage Group |
| RECORD |
|
RAM |
| Sub |
Name |
Data Type |
SDO |
PDO |
SRDO |
Default Value |
| 0x00 |
Highest sub-index supported |
UNSIGNED8 |
ro |
no |
no |
0x04 |
| 0x01 |
Map Range |
REAL32 |
ro |
no |
no |
0 |
| 0x02 |
MagneticField X |
INTEGER16 |
ro |
t |
tx |
0 |
| 0x03 |
MagneticField Y |
INTEGER16 |
ro |
t |
tx |
0 |
| 0x04 |
MagneticField Z |
INTEGER16 |
ro |
t |
tx |
0 |
I16 times this to get Tesla unit
Value times Map Range gets you the final value
Value times Map Range gets you the final value
Value times Map Range gets you the final value
0xA000 - Communication Params
| Object Type |
Count Label |
Storage Group |
| RECORD |
|
PERSIST_COMM |
| Sub |
Name |
Data Type |
SDO |
PDO |
SRDO |
Default Value |
| 0x00 |
Highest sub-index supported |
UNSIGNED8 |
ro |
no |
no |
0x01 |
| 0x01 |
CAN baudrate |
UNSIGNED32 |
rw |
no |
no |
500000 |
Only 100_000, 125_000, 250_000 ,500_500 and 1000_000 is allowed to write
0xA001 - CANOpen ID
| Object Type |
Count Label |
Storage Group |
| VAR |
|
PERSIST_COMM |
| Data Type |
SDO |
PDO |
SRDO |
Default Value |
| UNSIGNED8 |
rw |
no |
no |
x010 |
Only exists on products that does not support LSS.