1000:
Device Type


The device type specifies the kind of device.
The lower 16 bits contain the device profile number
the upper 16 bits an additional information.
1001:
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
1002:
Manufacturer Status Register


This object is a common status register for 
manufacturer specific purposes.
SICK AutoIdent devices use it to show the latest 32 bit error status entries which happened
1003:
pre-defined error field


This object holds errors that have occurred on the device and
have been signalled via Emergency Object. It is an error history.
Writing to sub index 0 deletes the entire error history.
1005:
COB-ID SYNC


COB-ID of the Synchronization object.
The device generates a SYNC message if bit 30 is set.
The meaning of other bits is equal to the other communication objects.
1006:
Communication Cycle Period


This entry defines the communication cycle period in us.
It is 0, if not used.
1008:
Manufacturer Device Name


Contains the device name. (And Firmware version for L6xx devices )
1009:
Manufacturer Hardware Version


Contains the device hardware version.
This is the material number of the device.
It's also printed on the devices type label.
100A:
Manufacturer Software Version


Contains the device software version.
(Not filled for Lector 6xx devices)
1010:
store parameters


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").
1011:
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

For restoring the signature "load" (0x64616f6c) must be written.
1014:
COB-ID EMCY


COB-ID used for emergency message (Emergency Server).
1015:
Inhibit Time Emergency


Inhibit Time used for emergency message (Emergency Server).
The time has to be a multiple of 100 msec.
1017:
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
1018:
Identity Object


This object contains general information about the
device.
Sub-Index 1 contains a unique value allocated each manufacturer. (0x56 for SICK GBC08
Sub-Index 2 identifies the manufacturer specific product code (device version) (SICK P/N on the type label)
Sub-Index 3 contains the revision number. (SICK: not on the type label)
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. (SICK S/N on the type label)
1200:
Server SDO Parameter 1


The object contains the parameters for the SDOs for which
the device is the server.
1400:
Receive PDO Communication Parameter 1 (Dig Inputs)


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 s.
At the 5th sub-index can be defined a event time for asynchron pdos.
1401:
Receive PDO Communication Parameter 2


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 s.
At the 5th sub-index can be defined a event time for asynchron pdos.
1402:
Receive PDO Communication Parameter 3


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 s.
At the 5th sub-index can be defined a event time for asynchron pdos.
1403:
Receive PDO Communication Parameter 4


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 s.
At the 5th sub-index can be defined a event time for asynchron pdos.
1600:
Receive PDO Mapping Parameter 1  (Dig Inputs)


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)
1601:
Receive PDO Mapping Parameter 2


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)
1602:
Receive PDO Mapping Parameter 3


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)
1603:
Receive PDO Mapping Parameter 4


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)
1800:
Transmit PDO Communication Parameter 1 (Data Available PDO)


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 s.
At the 5th sub-index can be defined a event time for asynchron pdos.
1801:
Transmit PDO Communication Parameter 2 (Dig Outputs)


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 s.
At the 5th sub-index can be defined a event time for asynchron pdos.
1802:
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 s.
At the 5th sub-index can be defined a event time for asynchron pdos.
1803:
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 s.
At the 5th sub-index can be defined a event time for asynchron pdos.
1805:
Transmit PDO Communication Parameter 6 (Read Result PDO 1..7)


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 s.
At the 5th sub-index can be defined a event time for asynchron pdos.
1806:
Transmit PDO Communication Parameter 7 (Read Result PDO 8..14)


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 s.
At the 5th sub-index can be defined a event time for asynchron pdos.
1807:
Transmit PDO Communication Parameter 8 (Read Result PDO 15..21)


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 s.
At the 5th sub-index can be defined a event time for asynchron pdos.
1808:
Transmit PDO Communication Parameter 9 (Read Result PDO 22..28)


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 s.
At the 5th sub-index can be defined a event time for asynchron pdos.
1809:
Transmit PDO Communication Parameter 10 (Read Result PDO 29..35)


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 s.
At the 5th sub-index can be defined a event time for asynchron pdos.
180A:
Transmit PDO Communication Parameter 11 (Read Result PDO 36..42)


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 s.
At the 5th sub-index can be defined a event time for asynchron pdos.
180B:
Transmit PDO Communication Parameter 12 (Read Result PDO 43..49)


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 s.
At the 5th sub-index can be defined a event time for asynchron pdos.
1A00:
TPDO Mapping Parameter 1  (Data Available)


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.
1A01:
TPDO Mapping Parameter 2  (Dig Outputs)


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.
1A02:
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.
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.
1A03:
TPDO Mapping Parameter 4


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.
1A05:
TPDO Mapping Parameter 6  (Read Result 1..7)


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.
1A06:
TPDO Mapping Parameter 7  (Read Result 8..14)


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.
1A07:
TPDO Mapping Parameter 8  (Read Result 15..21)


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.
1A08:
TPDO Mapping Parameter 9  (Read Result 22..28)


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.
1A09:
TPDO Mapping Parameter 10  (Read Result 29..35)


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.
1A0A:
TPDO Mapping Parameter 11  (Read Result 36. 42)


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.
1A0B:
TPDO Mapping Parameter 12  (Read Result 43..49)


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.
2000:
read result


This object contains a read result data string and data related to it.
This string is generated by the device according to the settings defined by the user.
It is named 'output format' in the SOPAS ET.

Subindex 1: Identification number 
                    This value increments for consecutive read results.
                    You need it for instance to see if there were identical read results for
                    consecutive reading cycles.

Subindex 2:  Number of characters of the read result data string

Subindex 3:  Writing 0x00 to this position releases a current read result:
                     There is a fifo of read results for successive reading cycles.
                     After the output of the fifo was moved to the object directory
                     you have the chance to upload it severals times.
                     There are several options to control releasing of a current read result
                      and loading the next entry from the fifo:
	1.: writing value 0x00 to 2000/3  
	2.: waiting for timeout 0x3010/01
	3:  You can selcect an automatich release in SOPAS ET.
	     The string will be released immediately after SDO upload was
	      inished and next fifo entry will entered if available.              

Subindex 4: Read result data string. (up to 500 characters.)
2001:
ReadResultChar


Single characters of read result data string from 0x2000/4
May be used to access read result by PDO.
Controlling of successive read results as described with 0x2000/3.

You should use 0x2002/0  (IdCnt) within each PDO mapping to check if data from several TxPDOs is consistent.
2002:
read result characters ID counter


Incremented on each read result
= Ox200/1 but not queued with read reslt domains
2020:
command response


This object contains a data domain and data related to it.
After you send a command to the device using SDO download to 0x2200/0 the device will put it's command responde data string to this OBD entry.
Subindex 1: identification number (changes for consecutive outputs) 
Subindex 2: number of characters (16 bit !)
subindex 3: writing 0x00 to this position releases a current data domain
subindex 4: data domain
2200:
command string


Command/Parameter string input.
All commands entered here are parsed in the same way as SOPAS commands on other data channels of this device. 
You will find command responses on 0x2020/04
2300:
data available PDO (tx)


default for Tx PDO 01 
--> Data Available PDO
3000:
CAN datastring enable


parameter to enable sending of different data strings

Bit0: 	Enable Read Result Datatstring 	(2000h / 4)
Bit1:	Enable Diagnosis Data		(2010h / 4)
Bit2:	Enable Command Response	        	(2020h / 4)
3010:
timeout in ms for Sdo transfer of scanner data after 'data available'


If data was not accessed within the timout after sending a 'data available PDO', CLVs buffer will be released and a data available PDO with error state will be sent 

subindex 1: read result timeout
subindex 2: diagnosis string timeout
subindex 3: command response timeout
6000:
CANopen inputs ( = Device output )



6200:
CANopen outputs ( = Device input)



6208:
Enable for CANopen outputs ( for Device inputs)


Bit enable for input Bytes
1: Enable
0: Disable
