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CiA Draft Standard Proposal 417-3

CANopenApplication Profile for Lift Control Systems

Part 3: Pre-defined communication objects

This is a draft standard proposal and may be changed without notification.

Version 1.0.1

July 14, 2003

© CAN in Automation (CiA) e. V.

DSP 417-3 1.0.1 CANopen Application Profile for Lift Control Systems CiA

ii

HISTORY

Date Changes

2003-04-09 added pre-defininitions for PDOs

2003-04-14 wording corrected

2003-04-19 final preperations

2003-07-14 final clearifications


iii

CONTENTS

1 SCOPE............................................................................................9

2 NORMATIVE REFERENCES.........................................................9

3 DEFINITIONS, ACRONYMS AND ABBREVIATIONS ..................9

4 PRE-DEFINED COMMUNICATION OBJECTS.............................9

4.1 Introduction............................................................................................................................9

4.2 Object 1000h: Device type ....................................................................................................9

4.3 Object 1001h: Error register..................................................................................................9

4.4 Object 1017h: Heartbeat producer time .............................................................................10

4.5 Object 1029h: Error behavior ..............................................................................................10

5 PRE-DEFINED PDO COMMUNICATION ....................................11

5.1 Introduction..........................................................................................................................11

5.2 MPDOs of the physical device ...........................................................................................11

5.2.1 Transmit MPDO............................................................................................................11

5.2.2 Receive MPDOs...........................................................................................................11

5.3 Pre-defined virtual device PDOs ........................................................................................12

5.3.1 Call controller ...............................................................................................................12

5.3.1.1 Transmit PDO lift number 1 virtual output .....................................................125.3.1.2 Transmit PDO lift number 2 virtual output .....................................................125.3.1.3 Transmit PDO lift number 3 virtual output .....................................................135.3.1.4 Transmit PDO lift number 4 virtual output .....................................................135.3.1.5 Transmit PDO lift number 5 virtual output .....................................................135.3.1.6 Transmit PDO lift number 6 virtual output .....................................................145.3.1.7 Transmit PDO lift number 7 virtual output .....................................................145.3.1.8 Transmit PDO lift number 8 virtual output .....................................................145.3.1.9 Receive PDO virtual input..............................................................................15

5.3.2 Input panel unit.............................................................................................................15

5.3.2.1 Transmit PDO virtual input.............................................................................15

5.3.3 Output panel unit..........................................................................................................15

5.3.3.1 Receive PDO lift number 1 virtual output ......................................................155.3.3.2 Receive PDO lift number 2 virtual output ......................................................165.3.3.3 Receive PDO lift number 3 virtual output ......................................................165.3.3.4 Receive PDO lift number 4 virtual output ......................................................165.3.3.5 Receive PDO lift number 5 virtual output ......................................................165.3.3.6 Receive PDO lift number 6 virtual output ......................................................175.3.3.7 Receive PDO lift number 7 virtual output ......................................................175.3.3.8 Receive PDO lift number 8 virtual output ......................................................17

5.3.4 Car door controller .......................................................................................................18


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5.3.4.1 Transmit PDO lift number 1 car door control.................................................185.3.4.2 Transmit PDO lift number 2 car door control.................................................185.3.4.3 Transmit PDO lift number 3 car door control.................................................195.3.4.4 Transmit PDO lift number 4 car door control.................................................195.3.4.5 Transmit PDO lift number 5 car door control.................................................195.3.4.6 Transmit PDO lift number 6 car door control.................................................205.3.4.7 Transmit PDO lift number 7 car door control.................................................205.3.4.8 Transmit PDO lift number 8 car door control.................................................215.3.4.9 Receive PDO lift number 1 car door 1 status and position...........................215.3.4.10 Receive PDO lift number 2 car door 1 status and position...........................215.3.4.11 Receive PDO lift number 3 car door 1 status and position...........................225.3.4.12 Receive PDO lift number 4 car door 1 status and position...........................225.3.4.13 Receive PDO lift number 5 car door 1 status and position...........................225.3.4.14 Receive PDO lift number 6 car door 1 status and position...........................235.3.4.15 Receive PDO lift number 7 car door 1 status and position...........................235.3.4.16 Receive PDO lift number 8 car door 1 status and position...........................235.3.4.17 Receive PDO lift number 1 car door 1 light barrier.......................................245.3.4.18 Receive PDO lift number 2 car door 1 light barrier.......................................245.3.4.19 Receive PDO lift number 3 car door 1 light barrier.......................................245.3.4.20 Receive PDO lift number 4 car door 1 light barrier.......................................245.3.4.21 Receive PDO lift number 5 car door 1 light barrier.......................................255.3.4.22 Receive PDO lift number 6 car door 1 light barrier.......................................255.3.4.23 Receive PDO lift number 7 car door 1 light barrier.......................................255.3.4.24 Receive PDO lift number 8 car door 1 light barrier.......................................255.3.4.25 Receive PDO lift number 1 car door 2 status and position...........................265.3.4.26 Receive PDO lift number 2 car door 2 status and position...........................265.3.4.27 Receive PDO lift number 3 car door 2 status and position...........................265.3.4.28 Receive PDO lift number 4 car door 2 status and position...........................275.3.4.29 Receive PDO lift number 5 car door 2 status and position...........................275.3.4.30 Receive PDO lift number 6 car door 2 status and position...........................275.3.4.31 Receive PDO lift number 7 car door 2 status and position...........................285.3.4.32 Receive PDO lift number 8 car door 2 status and position...........................285.3.4.33 Receive PDO lift number 1 car door 2 light barrier.......................................285.3.4.34 Receive PDO lift number 2 car door 2 light barrier.......................................295.3.4.35 Receive PDO lift number 3 car door 2 light barrier.......................................295.3.4.36 Receive PDO lift number 4 car door 2 light barrier.......................................295.3.4.37 Receive PDO lift number 5 car door 2 light barrier.......................................295.3.4.38 Receive PDO lift number 6 car door 2 light barrier.......................................305.3.4.39 Receive PDO lift number 7 car door 2 light barrier.......................................305.3.4.40 Receive PDO lift number 8 car door 2 light barrier.......................................305.3.4.41 Receive PDO lift number 1 car door 3 status and position...........................305.3.4.42 Receive PDO lift number 2 car door 3 status and position...........................315.3.4.43 Receive PDO lift number 3 car door 3 status and position...........................315.3.4.44 Receive PDO lift number 4 car door 3 status and position...........................315.3.4.45 Receive PDO lift number 5 car door 3 status and position...........................325.3.4.46 Receive PDO lift number 6 car door 3 status and position...........................325.3.4.47 Receive PDO lift number 7 car door 3 status and position...........................325.3.4.48 Receive PDO lift number 8 car door 3 status and position...........................335.3.4.49 Receive PDO lift number 1 car door 3 light barrier.......................................335.3.4.50 Receive PDO lift number 2 car door 3 light barrier.......................................335.3.4.51 Receive PDO lift number 3 car door 3 light barrier.......................................345.3.4.52 Receive PDO lift number 4 car door 3 light barrier.......................................345.3.4.53 Receive PDO lift number 5 car door 3 light barrier.......................................345.3.4.54 Receive PDO lift number 6 car door 3 light barrier.......................................345.3.4.55 Receive PDO lift number 7 car door 3 light barrier.......................................355.3.4.56 Receive PDO lift number 8 car door 3 light barrier.......................................35

5.3.5 Car door unit.................................................................................................................35

5.3.5.1 Transmit PDO lift number 1 car door 1 status and position..........................355.3.5.2 Transmit PDO lift number 2 car door 1 status and position..........................365.3.5.3 Transmit PDO lift number 3 car door 1 status and position..........................365.3.5.4 Transmit PDO lift number 4 car door 1 status and position..........................375.3.5.5 Transmit PDO lift number 5 car door 1 status and position..........................37


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5.3.5.6 Transmit PDO lift number 6 car door 1 status and position..........................385.3.5.7 Transmit PDO lift number 7 car door 1 status and position..........................385.3.5.8 Transmit PDO lift number 8 car door 1 status and position..........................395.3.5.9 Transmit PDO lift number 1 car door 2 status and position..........................395.3.5.10 Transmit PDO lift number 2 car door 2 status and position..........................405.3.5.11 Transmit PDO lift number 3 car door 2 status and position..........................405.3.5.12 Transmit PDO lift number 4 car door 2 status and position..........................415.3.5.13 Transmit PDO lift number 5 car door 2 status and position..........................415.3.5.14 Transmit PDO lift number 6 car door 2 status and position..........................425.3.5.15 Transmit PDO lift number 7 car door 2 status and position..........................425.3.5.16 Transmit PDO lift number 8 car door 2 status and position..........................435.3.5.17 Transmit PDO lift number 1 car door 3 status and position..........................435.3.5.18 Transmit PDO lift number 2 car door 3 status and position..........................445.3.5.19 Transmit PDO lift number 3 car door 3 status and position..........................445.3.5.20 Transmit PDO lift number 4 car door 3 status and position..........................455.3.5.21 Transmit PDO lift number 5 car door 3 status and position..........................455.3.5.22 Transmit PDO lift number 6 car door 3 status and position..........................465.3.5.23 Transmit PDO lift number 7 car door 3 status and position..........................465.3.5.24 Transmit PDO lift number 8 car door 3 status and position..........................475.3.5.25 Receive PDO lift number 1 car door control..................................................475.3.5.26 Receive PDO lift number 2 car door control..................................................475.3.5.27 Receive PDO lift number 3 car door control..................................................485.3.5.28 Receive PDO lift number 4 car door control..................................................485.3.5.29 Receive PDO lift number 5 car door control..................................................485.3.5.30 Receive PDO lift number 6 car door control..................................................495.3.5.31 Receive PDO lift number 7 car door control..................................................495.3.5.32 Receive PDO lift number 8 car door control..................................................495.3.5.33 Receive PDO lift number 1 light barrier 1......................................................505.3.5.34 Receive PDO lift number 2 light barrier 1......................................................505.3.5.35 Receive PDO lift number 3 light barrier 1......................................................505.3.5.36 Receive PDO lift number 4 light barrier 1......................................................515.3.5.37 Receive PDO lift number 5 light barrier 1......................................................515.3.5.38 Receive PDO lift number 6 light barrier 1......................................................515.3.5.39 Receive PDO lift number 7 light barrier 1......................................................525.3.5.40 Receive PDO lift number 8 light barrier 1......................................................525.3.5.41 Receive PDO lift number 1 light barrier 2......................................................525.3.5.42 Receive PDO lift number 2 light barrier 2......................................................535.3.5.43 Receive PDO lift number 3 light barrier 2......................................................535.3.5.44 Receive PDO lift number 4 light barrier 2......................................................535.3.5.45 Receive PDO lift number 5 light barrier 2......................................................545.3.5.46 Receive PDO lift number 6 light barrier 2......................................................545.3.5.47 Receive PDO lift number 7 light barrier 2......................................................545.3.5.48 Receive PDO lift number 8 light barrier 2......................................................555.3.5.49 Receive PDO lift number 1 light barrier 3......................................................555.3.5.50 Receive PDO lift number 2 light barrier 3......................................................555.3.5.51 Receive PDO lift number 3 light barrier 3......................................................565.3.5.52 Receive PDO lift number 4 light barrier 3......................................................565.3.5.53 Receive PDO lift number 5 light barrier 3......................................................565.3.5.54 Receive PDO lift number 6 light barrier 3......................................................575.3.5.55 Receive PDO lift number 7 light barrier 3......................................................575.3.5.56 Receive PDO lift number 8 light barrier 3......................................................57

5.3.6 Light barrier unit ...........................................................................................................58

5.3.6.1 Transmit PDO lift number 1 light barrier 1.....................................................585.3.6.2 Transmit PDO lift number 2 light barrier 1.....................................................585.3.6.3 Transmit PDO lift number 3 light barrier 1.....................................................585.3.6.4 Transmit PDO lift number 4 light barrier 1.....................................................595.3.6.5 Transmit PDO lift number 5 light barrier 1.....................................................595.3.6.6 Transmit PDO lift number 6 light barrier 1.....................................................595.3.6.7 Transmit PDO lift number 7 light barrier 1.....................................................605.3.6.8 Transmit PDO lift number 8 light barrier 1.....................................................605.3.6.9 Transmit PDO lift number 1 light barrier 2.....................................................605.3.6.10 Transmit PDO lift number 2 light barrier 2.....................................................61


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5.3.6.11 Transmit PDO lift number 3 light barrier 2.....................................................615.3.6.12 Transmit PDO lift number 4 light barrier 2.....................................................615.3.6.13 Transmit PDO lift number 5 light barrier 2.....................................................625.3.6.14 Transmit PDO lift number 6 light barrier 2.....................................................625.3.6.15 Transmit PDO lift number 7 light barrier 2.....................................................625.3.6.16 Transmit PDO lift number 8 light barrier 2.....................................................635.3.6.17 Transmit PDO lift number 1 light barrier 3.....................................................635.3.6.18 Transmit PDO lift number 2 light barrier 3.....................................................635.3.6.19 Transmit PDO lift number 3 light barrier 3.....................................................645.3.6.20 Transmit PDO lift number 4 light barrier 3.....................................................645.3.6.21 Transmit PDO lift number 5 light barrier 3.....................................................645.3.6.22 Transmit PDO lift number 6 light barrier 3.....................................................655.3.6.23 Transmit PDO lift number 7 light barrier 3.....................................................655.3.6.24 Transmit PDO lift number 8 light barrier 3.....................................................65

5.3.7 Position unit ..................................................................................................................66

5.3.7.1 Transmit PDO lift number 1 car position 1 ....................................................665.3.7.2 Transmit PDO lift number 2 car position 1 ....................................................665.3.7.3 Transmit PDO lift number 3 car position 1 ....................................................675.3.7.4 Transmit PDO lift number 4 car position 1 ....................................................675.3.7.5 Transmit PDO lift number 5 car position 1 ....................................................675.3.7.6 Transmit PDO lift number 6 car position 1 ....................................................685.3.7.7 Transmit PDO lift number 7 car position 1 ....................................................685.3.7.8 Transmit PDO lift number 8 car position 1 ....................................................685.3.7.9 Transmit PDO lift number 1 car position 2 ....................................................695.3.7.10 Transmit PDO lift number 2 car position 2 ....................................................695.3.7.11 Transmit PDO lift number 3 car position 2 ....................................................695.3.7.12 Transmit PDO lift number 4 car position 2 ....................................................705.3.7.13 Transmit PDO lift number 5 car position 2 ....................................................705.3.7.14 Transmit PDO lift number 6 car position 2 ....................................................705.3.7.15 Transmit PDO lift number 7 car position 2 ....................................................715.3.7.16 Transmit PDO lift number 8 car position 2 ....................................................71

5.3.8 Car drive controller.......................................................................................................71

5.3.8.1 Transmit PDO lift number 1 car drive control – profile postion mode ..........715.3.8.2 Transmit PDO lift number 2 car drive control – profile postion mode ..........725.3.8.3 Transmit PDO lift number 3 car drive control – profile postion mode ..........725.3.8.4 Transmit PDO lift number 4 car drive control – profile postion mode ..........735.3.8.5 Transmit PDO lift number 5 car drive control – profile postion mode ..........735.3.8.6 Transmit PDO lift number 6 car drive control – profile postion mode ..........735.3.8.7 Transmit PDO lift number 7 car drive control – profile postion mode ..........745.3.8.8 Transmit PDO lift number 8 car drive control – profile postion mode ..........745.3.8.9 Transmit PDO lift number 1 car drive control – profile velocity mode..........755.3.8.10 Transmit PDO lift number 2 car drive control – profile velocity mode..........755.3.8.11 Transmit PDO lift number 3 car drive control – profile velocity mode..........755.3.8.12 Transmit PDO lift number 4 car drive control – profile velocity mode..........765.3.8.13 Transmit PDO lift number 5 car drive control – profile velocity mode..........765.3.8.14 Transmit PDO lift number 6 car drive control – profile velocity mode..........775.3.8.15 Transmit PDO lift number 7 car drive control – profile velocity mode..........775.3.8.16 Transmit PDO lift number 8 car drive control – profile velocity mode..........775.3.8.17 Receive PDO lift number 1 car drive status – profile position mode............785.3.8.18 Receive PDO lift number 2 car drive status – profile position mode............785.3.8.19 Receive PDO lift number 3 car drive status – profile position mode............785.3.8.20 Receive PDO lift number 4 car drive status – profile position mode............795.3.8.21 Receive PDO lift number 5 car drive status – profile position mode............795.3.8.22 Receive PDO lift number 6 car drive status – profile position mode............795.3.8.23 Receive PDO lift number 7 car drive status – profile position mode............805.3.8.24 Receive PDO lift number 8 car drive status – profile position mode............805.3.8.25 Receive PDO lift number 1 car drive status – profile velocity mode............805.3.8.26 Receive PDO lift number 2 car drive status – profile velocity mode............815.3.8.27 Receive PDO lift number 3 car drive status – profile velocity mode............815.3.8.28 Receive PDO lift number 4 car drive status – profile velocity mode............815.3.8.29 Receive PDO lift number 5 car drive status – profile velocity mode............82


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5.3.8.30 Receive PDO lift number 6 car drive status – profile velocity mode............825.3.8.31 Receive PDO lift number 7 car drive status – profile velocity mode............825.3.8.32 Receive PDO lift number 8 car drive status – profile velocity mode............835.3.8.33 Receive PDO lift number 1 load measuring..................................................835.3.8.34 Receive PDO lift number 2 load measuring..................................................835.3.8.35 Receive PDO lift number 3 load measuring..................................................835.3.8.36 Receive PDO lift number 4 load measuring..................................................845.3.8.37 Receive PDO lift number 5 load measuring..................................................845.3.8.38 Receive PDO lift number 6 load measuring..................................................845.3.8.39 Receive PDO lift number 7 load measuring..................................................845.3.8.40 Receive PDO lift number 8 load measuring..................................................855.3.8.41 Receive PDO lift number 1 car position ........................................................855.3.8.42 Receive PDO lift number 2 car position ........................................................855.3.8.43 Receive PDO lift number 3 car position ........................................................855.3.8.44 Receive PDO lift number 4 car position ........................................................865.3.8.45 Receive PDO lift number 5 car position ........................................................865.3.8.46 Receive PDO lift number 6 car position ........................................................865.3.8.47 Receive PDO lift number 7 car position ........................................................865.3.8.48 Receive PDO lift number 8 car position ........................................................875.3.8.49 Receive PDO lift number 1 car door 1 status and position...........................875.3.8.50 Receive PDO lift number 2 car door 1 status and position...........................875.3.8.51 Receive PDO lift number 3 car door 1 status and position...........................885.3.8.52 Receive PDO lift number 4 car door 1 status and position...........................885.3.8.53 Receive PDO lift number 5 car door 1 status and position...........................885.3.8.54 Receive PDO lift number 6 car door 1 status and position...........................895.3.8.55 Receive PDO lift number 7 car door 1 status and position...........................895.3.8.56 Receive PDO lift number 8 car door 1 status and position...........................895.3.8.57 Receive PDO lift number 1 car door 2 status and position...........................905.3.8.58 Receive PDO lift number 2 car door 2 status and position...........................905.3.8.59 Receive PDO lift number 3 car door 2 status and position...........................905.3.8.60 Receive PDO lift number 4 car door 2 status and position...........................915.3.8.61 Receive PDO lift number 5 car door 2 status and position...........................915.3.8.62 Receive PDO lift number 6 car door 2 status and position...........................915.3.8.63 Receive PDO lift number 7 car door 2 status and position...........................925.3.8.64 Receive PDO lift number 8 car door 2 status and position...........................925.3.8.65 Receive PDO lift number 1 car door 3 status and position...........................925.3.8.66 Receive PDO lift number 2 car door 3 status and position...........................935.3.8.67 Receive PDO lift number 3 car door 3 status and position...........................935.3.8.68 Receive PDO lift number 4 car door 3 status and position...........................935.3.8.69 Receive PDO lift number 5 car door 3 status and position...........................945.3.8.70 Receive PDO lift number 6 car door 3 status and position...........................945.3.8.71 Receive PDO lift number 7 car door 3 status and position...........................945.3.8.72 Receive PDO lift number 8 car door 3 status and position...........................95

5.3.9 Car drive unit ................................................................................................................95

5.3.9.1 Transmit PDO lift number 1 car drive status – profile position mode...........955.3.9.2 Transmit PDO lift number 2 car drive status – profile position mode...........955.3.9.3 Transmit PDO lift number 3 car drive status – profile position mode...........965.3.9.4 Transmit PDO lift number 4 car drive status – profile position mode...........965.3.9.5 Transmit PDO lift number 5 car drive status – profile position mode...........975.3.9.6 Transmit PDO lift number 6 car drive status – profile position mode...........975.3.9.7 Transmit PDO lift number 7 car drive status – profile position mode...........975.3.9.8 Transmit PDO lift number 8 car drive status – profile position mode...........985.3.9.9 Transmit PDO lift number 1 car drive status – profile velocity mode...........985.3.9.10 Transmit PDO lift number 2 car drive status – profile velocity mode...........995.3.9.11 Transmit PDO lift number 3 car drive status – profile velocity mode...........995.3.9.12 Transmit PDO lift number 4 car drive status – profile velocity mode...........995.3.9.13 Transmit PDO lift number 5 car drive status – profile velocity mode.........1005.3.9.14 Transmit PDO lift number 6 car drive status – profile velocity mode.........1005.3.9.15 Transmit PDO lift number 7 car drive status – profile velocity mode.........1015.3.9.16 Transmit PDO lift number 8 car drive status – profile velocity mode.........1015.3.9.17 Receive PDO lift number 1 car drive control – profile position mode ........1015.3.9.18 Receive PDO lift number 2 car drive control – profile position mode ........102


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5.3.9.19 Receive PDO lift number 3 car drive control – profile position mode ........1025.3.9.20 Receive PDO lift number 4 car drive control – profile position mode ........1025.3.9.21 Receive PDO lift number 5 car drive control – profile position mode ........1035.3.9.22 Receive PDO lift number 6 car drive control – profile position mode ........1035.3.9.23 Receive PDO lift number 7 car drive control – profile position mode ........1035.3.9.24 Receive PDO lift number 8 car drive control – profile position mode ........1045.3.9.25 Receive PDO lift number 1 car drive control – profile velocity mode.........1045.3.9.26 Receive PDO lift number 2 car drive control – profile velocity mode.........1045.3.9.27 Receive PDO lift number 3 car drive control – profile velocity mode.........1055.3.9.28 Receive PDO lift number 4 car drive control – profile velocity mode.........1055.3.9.29 Receive PDO lift number 5 car drive control – profile velocity mode.........1055.3.9.30 Receive PDO lift number 6 car drive control – profile velocity mode.........1065.3.9.31 Receive PDO lift number 7 car drive control – profile velocity mode.........1065.3.9.32 Receive PDO lift number 8 car drive control – profile velocity mode.........1065.3.9.33 Receive PDO lift number 1 load measuring................................................1065.3.9.34 Receive PDO lift number 2 load measuring................................................1075.3.9.35 Receive PDO lift number 3 load measuring................................................1075.3.9.36 Receive PDO lift number 4 load measuring................................................1075.3.9.37 Receive PDO lift number 5 load measuring................................................1075.3.9.38 Receive PDO lift number 6 load measuring................................................1085.3.9.39 Receive PDO lift number 7 load measuring................................................1085.3.9.40 Receive PDO lift number 8 load measuring................................................1085.3.9.41 Receive PDO lift number 1 car position ......................................................1085.3.9.42 Receive PDO lift number 2 car position ......................................................1095.3.9.43 Receive PDO lift number 3 car position ......................................................1095.3.9.44 Receive PDO lift number 4 car position ......................................................1095.3.9.45 Receive PDO lift number 5 car position ......................................................1095.3.9.46 Receive PDO lift number 6 car position ......................................................1105.3.9.47 Receive PDO lift number 7 car position ......................................................1105.3.9.48 Receive PDO lift number 8 car position ......................................................110

5.3.10 Load measuring unit ..................................................................................................111

5.3.10.1 Transmit PDO lift number 1 load measuring...............................................1115.3.10.2 Transmit PDO lift number 2 load measuring...............................................1115.3.10.3 Transmit PDO lift number 3 load measuring...............................................1115.3.10.4 Transmit PDO lift number 4 load measuring...............................................1125.3.10.5 Transmit PDO lift number 5 load measuring...............................................1125.3.10.6 Transmit PDO lift number 6 load measuring...............................................1125.3.10.7 Transmit PDO lift number 7 load measuring...............................................1135.3.10.8 Transmit PDO lift number 8 load measuring...............................................113

5.3.11 Sensor unit .................................................................................................................113

5.3.11.1 Transmit PDO sensor input..........................................................................113

ANNEX A: SHORT OVERVIEW OF ASSIGNMENT.........................114


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1 Scope

This part of the application profile specifies different pre-definitions for communication objects, inparticular the communication and mapping behavior of the PDOs.

2 Normative references

The normative references given in part 1 one shall apply also for part 3.

3 Definitions, acronyms and abbreviations

The definitions, acronyms and abbreviations given in part 1 shall also apply for part 3.

4 Pre-defined communication objects

4.1 Introduction

Physical devices compliant with this device profile shall come with default values for somecommunication objects (1000h to 1FFFh), which are not specified in all details in /CiA301/.

4.2 Object 1000h: Device type

The object at index 1000h describes the type of device and its functionality.

Value definition

31 24 23 16 15 0

Virtual device code reserved(00h)

Number of device profile: 417d

MSB LSB

If the device implements only one virtual device, the additional information contains the virtual devicecode 8 bit), and the supported default communication model (8 bit). If the device codes is ‘0’, thephysical device is supporting more than only one virtual device. In this case, the object 6000h containsthe codes of the all supported virtual devices.

Codes of virtual device:

Code Function00h Multiple virtual device01h Call controller

02h Input panel unit03h Output panel unit04h Car door controller

05h Car door unit06h Car position unit07h Light barrier unit08h Car drive controller

09h Car drive unit0Ah Load measuring unit0Bh Sensor unit

0Ch reserved::::: :::::FFh reserved

4.3 Object 1001h: Error register

The device profile specific bit in the error register is reserved for future use.


10

4.4 Object 1017h: Heartbeat producer time

The heartbeat producer time shall be set to > 0 by default.

4.5 Object 1029h: Error behavior

This object specifies to which state the physical device shall be set, when a communication error or adevice internal error is detected. Besides the specification given in /CiA301/ the following sub-indexesmay be implemented optionally. If the object is not implemented the device shall behave as the defaultvalues define.

Value definition

0 = pre-operational (only if current state is operational)

1 = no state change

2 = stopped

Entry description

Sub-Index 02h

Description Internal device error

Access rw

Entry Category Optional

PDO Mapping No

Value Range 0h to 2h

Default Value 0h


11

5 Pre-defined PDO communication

5.1 Introduction

Each physical device compliant to this application profile provides one MPDO in Destination AddressMode (DAM) to be transmitted in broadcast (addr = 0) and up to 127 MPDOs in DAM mode to bereceived. Depending on the multiplexor (corresponding to index and sub-index) the MPDO consumerentries the received data into its object dictionary or it ignores the received MPDO. The MPDOproducer shall transmit all application objects of the physical device, which features a PDO mappingattribute of the value default. In addition, the MPDO may be used to transmit application featuring PDPmapping attributes with the value possible.

Some virtual devices additionally support PDOs with pre-defined mappings and pre-defined COB-IDs.Other virtual devices support PDOs with pre-defined mappings and COB-IDs derived from theassigned node-ID.

Object dictionary entry indexes of PDO communication parameter and PDO mapping parameter givenin this part of the application profile are mandatory. This may exclude some combinations of virtualdevices in one physical device.

The system designer may use other object dictionary entry indexes of PDO communication andmapping parameters. Note: In this case, the system designer is responsible for consistency of PDOparameters.

5.2 MPDOs of the physical device

5.2.1 Transmit MPDO

Depending on the implemented virtual devices, the physical device may transmit the MPDO wheneverone of the application object changes its value except the application object is mapped to a TPDO.

Transmit MPDO communication parameter

Index Sub-Index Comment Default Value

00h Largest sub-index supported No

01h COB-ID used by PDO 500h + Node-ID

02h Transmission type 255d

03h Inhibit time 0

04h reserved See /CiA301/

1801h

05h Event timer 0

Transmit MPDO mapping parameter


1A01h 00h Number of mapped objects 255d

5.2.2 Receive MPDOs

Each physical may support up to 127 MPDO to be received. Depending on the implemented virtualdevices and the application objects, the received data will be enter in the object dictionarycorresponding to the multiplexor (index and sub-index).

Note: The MPDO consumer parameters corresponding to the physical device’s transmitted MPDOmay not be supported.

Receive MPDO communication parameter



01h COB-ID used by PDO 501h to 57Fh

1401h

to147Fh 02h Transmission type 255d


12

Receive MPDO mapping parameter


1601h

to167Fh

00h Number of mapped objects 255d

5.3 Pre-defined virtual device PDOs

5.3.1 Call controller

5.3.1.1 Transmit PDO lift number 1 virtual output

This TPDO shall be transmitted whenever the call controller likes to set an output in any of the genericoutput devices or likes to acknowledge an outstanding call request to the input panel.

Transmit PDO communication parameter



01h COB-ID used by PDO 400h


03h Inhibit time 0


1900h

05h Event timer 0

Transmit PDO mapping parameter


00h Number of mapped objects 11B00h

01h Virtual output mapping 6011 00 30h








03h Inhibit time 0


1910h

05h Event timer 0






13








03h Inhibit time 0


1920h

05h Event timer 0












03h Inhibit time 0


1930h

05h Event timer 0












03h Inhibit time 0


1940h

05h Event timer 0






14








03h Inhibit time 0


1950h

05h Event timer 0












03h Inhibit time 0


1960h

05h Event timer 0












03h Inhibit time 0


1970h

05h Event timer 0






15

5.3.1.9 Receive PDO virtual input

This RPDO contains function data, which shall be stored in one of the sub-objects of the callacknowledge object depending on the function.

Receive PDO communication parameter



01h COB-ID used by PDO 481h to 4FFh

1481h

to14FFh 02h Transmission type 255d

Receive PDO mapping parameter


00h Number of mapped objects 11681h

to16FFh

01h Virtual input mapping 6010 00 30h

5.3.2 Input panel unit

5.3.2.1 Transmit PDO virtual input

This TPDO shall be transmitted whenever the input panel have to request a call, e.g. issued by anuser action.






03h Inhibit time 0


1881h

05h Event timer 0



00h Number of mapped objects 11A81h

01h Virtual input mapping 6010 00 30h

5.3.3 Output panel unit

5.3.3.1 Receive PDO lift number 1 virtual output

This RPDO contains function data, which shall be stored in one of the sub-objects of the callacknowledge objects or output display objects depending on the function.





1500h







16







1510h












1520h












1530h












1540h



17











1550h












1560h












1570h







18

5.3.4 Car door controller

5.3.4.1 Transmit PDO lift number 1 car door control

This TPDO shall be transmitted whenever the car door controller receives the request to move thedoor (open or close).






03h Inhibit time 0


1908h

05h Event timer 0



00h Number of mapped objects 4

01h Door 1 controlword 6300 01 10h



1B08h









03h Inhibit time 0


1918h

05h Event timer 0




01h Door 1 controlword 6B00 01 10h



1B18h



19








03h Inhibit time 0


1928h

05h Event timer 0







1B28h









03h Inhibit time 0


1938h

05h Event timer 0







1B38h









03h Inhibit time 0


1948h

05h Event timer 0


20







1B48h









03h Inhibit time 0


1958h

05h Event timer 0







1B58h









03h Inhibit time 0


1968h

05h Event timer 0







1B68h



21








03h Inhibit time 0


1978h

05h Event timer 0







1B78h


5.3.4.9 Receive PDO lift number 1 car door 1 status and position

This RPDO contains status information of the car door unit and the position of the according car door.





150Ah





01h Door 1 statusword 6301 01 10h

170Ah

02h Door 1 position 6302 01 10h







151Ah



22




01h Door 1 statusword 6B01 01 10h

171Ah

02h Door 1 position 6B02 01 10h







152Ah






172Ah








153Ah






173Ah








154Ah



23





174Ah








155Ah






175Ah








156Ah






176Ah








157Ah



24





177Ah


5.3.4.17 Receive PDO lift number 1 car door 1 light barrier

This RPDO contains information of the current state of the light barrier unit of the according car door.





150Bh




00h Number of mapped objects 4170Bh

01h Door 1 light barrier status 6310 01 08h







151Bh





01h Door 1 light barrier status 6B10 01 08h







152Bh












153Bh



25











154Bh












155Bh












156Bh












157Bh



26











150Ch






170Ch








151Ch






171Ch








152Ch



27





172Ch








153Ah






173Ah








154Ch






174Ch








155Ch



28





175Ch








156Ch






176Ch








157Ch






177Ch








150Dh



29



00h Number of mapped objects 4170Dh








151Dh












152Dh












153Dh












154Dh



30











155Dh












156Dh












157Dh












150Eh



31





170Eh








151Eh






171Eh








152Eh






172Eh








153Eh



32





173Eh








154Eh






174Eh








155Eh






175Eh








156Eh



33





176Eh








157Eh






177Eh








150Fh




00h Number of mapped objects 4170Fh








151Fh



34











152Fh












153Fh












154Fh












155Fh



35











156Fh












157Fh






5.3.5 Car door unit

5.3.5.1 Transmit PDO lift number 1 car door 1 status and position

This TPDO shall be transmitted whenever the status of the car door unit or the position of theaccording car door changes.






03h Inhibit time 0


190Ah

05h Event timer 0


36





1B0Ah









03h Inhibit time 0


191Ah

05h Event timer 0





1B1Ah









03h Inhibit time 0


192Ah

05h Event timer 0


37





1B2Ah









03h Inhibit time 0


193Ah

05h Event timer 0





1B3Ah









03h Inhibit time 0


194Ah

05h Event timer 0


38





1B4Ah









03h Inhibit time 0


195Ah

05h Event timer 0





1B5Ah









03h Inhibit time 0


196Ah

05h Event timer 0


39





1B6Ah









03h Inhibit time 0


197Ah

05h Event timer 0





1B7Ah









03h Inhibit time 0


190Ch

05h Event timer 0


40





1B0Ch









03h Inhibit time 0


191Ch

05h Event timer 0





1B1Ch









03h Inhibit time 0


192Ch

05h Event timer 0


41





1B2Ch









03h Inhibit time 0


193Ch

05h Event timer 0





1B3Ch









03h Inhibit time 0


194Ch

05h Event timer 0


42





1B4Ch









03h Inhibit time 0


195Ch

05h Event timer 0





1B5Ch









03h Inhibit time 0


196Ch

05h Event timer 0


43





1B6Ch









03h Inhibit time 0


197Ch

05h Event timer 0





1B7Ch









03h Inhibit time 0


190Eh

05h Event timer 0


44





1B0Eh









03h Inhibit time 0


191Eh

05h Event timer 0





1B1Eh









03h Inhibit time 0


192Eh

05h Event timer 0


45





1B2Eh









03h Inhibit time 0


193Eh

05h Event timer 0





1B3Eh









03h Inhibit time 0


194Eh

05h Event timer 0


46





1B4Eh









03h Inhibit time 0


195Eh

05h Event timer 0





1B5Eh









03h Inhibit time 0


196Eh

05h Event timer 0


47





1B6Eh









03h Inhibit time 0


197Eh

05h Event timer 0





1B7Eh


5.3.5.25 Receive PDO lift number 1 car door control

This RPDO contains control data for the car door unit.





1508h








1708h








1518h



48







1718h








1528h








1728h








1538h








1738h








1548h



49







1748h








1558h








1758h








1568h








1768h








1578h



50







1778h


5.3.5.33 Receive PDO lift number 1 light barrier 1

This RPDO contains status information of the laight barrier that protects the area of the appropriatecar door unit.





150Bh












151Bh












152Bh



51











153Bh












154Bh












155Bh

02h Transmission type 255


52











156Bh












157Bh












150Dh



53











151Dh












152Dh












153Dh



54











154Dh












155Dh












156Dh



55











157Dh












150Fh












151Fh



56











152Fh












153Fh












154Fh



57











155Fh












156Fh












157Fh



58





5.3.6 Light barrier unit

5.3.6.1 Transmit PDO lift number 1 light barrier 1

This TPDO shall be transmitted whenever the status of the light barrier protecting the area of theappropriate car door unit changes.






03h Inhibit time 0


190Bh

05h Event timer 0



00h Number of mapped objects 41B0Bh









03h Inhibit time 0


191Bh

05h Event timer 0












03h Inhibit time 0


192Bh

05h Event timer 0


59












03h Inhibit time 0


193Bh

05h Event timer 0












03h Inhibit time 0


194Bh

05h Event timer 0












03h Inhibit time 0


195Bh

05h Event timer 0


60












03h Inhibit time 0


196Bh

05h Event timer 0












03h Inhibit time 0


197Bh

05h Event timer 0












03h Inhibit time 0


190Dh

05h Event timer 0


61



00h Number of mapped objects 41B0Dh









03h Inhibit time 0


191Dh

05h Event timer 0












03h Inhibit time 0


192Dh

05h Event timer 0












03h Inhibit time 0


193Dh

05h Event timer 0


62












03h Inhibit time 0


194Dh

05h Event timer 0












03h Inhibit time 0


195Dh

05h Event timer 0












03h Inhibit time 0


196Dh

05h Event timer 0


63












03h Inhibit time 0


197Dh

05h Event timer 0












03h Inhibit time 0


190Fh

05h Event timer 0



00h Number of mapped objects 41B0Fh









03h Inhibit time 0


191Fh

05h Event timer 0


64












03h Inhibit time 0


192Fh

05h Event timer 0












03h Inhibit time 0


193Fh

05h Event timer 0












03h Inhibit time 0


194Fh

05h Event timer 0


65












03h Inhibit time 0


195Fh

05h Event timer 0












03h Inhibit time 0


196Fh

05h Event timer 0












03h Inhibit time 0


197Fh

05h Event timer 0


66





5.3.7 Position unit

5.3.7.1 Transmit PDO lift number 1 car position 1

This TPDO shall be transmitted whenever the event timer of the car position unit 1 expires, if the eventtimer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0and the transmission type is set to 255d, then the TPDO shall not be transmitted.




01h COB-ID used by PDO 18Ch


03h Inhibit time 0


1906h

05h Event timer 0




01h Car position 1 6383 01 20h








03h Inhibit time 0


1916h

05h Event timer 0




01h Car position 1 6B83 01 20h


67






01h COB-ID used by PDO 1ACh


03h Inhibit time 0


1926h

05h Event timer 0










01h COB-ID used by PDO 1BCh


03h Inhibit time 0


1936h

05h Event timer 0










01h COB-ID used by PDO 1CCh


03h Inhibit time 0


1946h

05h Event timer 0






68






01h COB-ID used by PDO 1DCh


03h Inhibit time 0


1956h

05h Event timer 0










01h COB-ID used by PDO 1ECh


03h Inhibit time 0


1966h

05h Event timer 0










01h COB-ID used by PDO 1FCh


03h Inhibit time 0


1976h

05h Event timer 0






69






01h COB-ID used by PDO 18Dh


03h Inhibit time 0


1907h

05h Event timer 0










01h COB-ID used by PDO 19Dh


03h Inhibit time 0


1917h

05h Event timer 0










01h COB-ID used by PDO 1ADh


03h Inhibit time 0


1927h

05h Event timer 0






70






01h COB-ID used by PDO 1BDh


03h Inhibit time 0


1937h

05h Event timer 0










01h COB-ID used by PDO 1CDh


03h Inhibit time 0


1947h

05h Event timer 0










01h COB-ID used by PDO 1DDh


03h Inhibit time 0


1957h

05h Event timer 0






71






01h COB-ID used by PDO 1EDh


03h Inhibit time 0


1967h

05h Event timer 0










01h COB-ID used by PDO 1FDh


03h Inhibit time 0


1977h

05h Event timer 0





5.3.8 Car drive controller

5.3.8.1 Transmit PDO lift number 1 car drive control – profile postion mode

This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop thecar, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is basedon the profile position mode of the car drive unit.






03h Inhibit time 0


1904h

05h Event timer 0


72




01h Controlword 6400 00 10h

1B04h

02h Target position 6420 00 20h








03h Inhibit time 0


1914h

05h Event timer 0




01h Controlword 6C00 00 10h

1B14h

02h Target position 6C20 00 20h






01h COB-ID used by PDO 1A0h


03h Inhibit time 0


1924h

05h Event timer 0





1B24h



73






01h COB-ID used by PDO 1B0h


03h Inhibit time 0


1934h

05h Event timer 0





1B34h







01h COB-ID used by PDO 1C0h


03h Inhibit time 0


1944h

05h Event timer 0





1B44h







01h COB-ID used by PDO 1D0h


03h Inhibit time 0


1954h

05h Event timer 0


74





1B54h







01h COB-ID used by PDO 1E0h


03h Inhibit time 0


1964h

05h Event timer 0





1B64h







01h COB-ID used by PDO 1F0h


03h Inhibit time 0


1974h

05h Event timer 0





1B74h



75

5.3.8.9 Transmit PDO lift number 1 car drive control – profile velocity mode

This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop thecar, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is basedon the profile velocity mode of the car drive unit.






03h Inhibit time 0


1906h

05h Event timer 0





1B06h

02h Target velocity 6430 00 20h








03h Inhibit time 0


1916h

05h Event timer 0





1B16h

02h Target velocity 6C30 00 20h








03h Inhibit time 0


1926h

05h Event timer 0


76





1B26h









03h Inhibit time 0


1936h

05h Event timer 0





1B36h









03h Inhibit time 0


1946h

05h Event timer 0





1B46h



77








03h Inhibit time 0


1956h

05h Event timer 0





1B56h









03h Inhibit time 0


1966h

05h Event timer 0





1B66h









03h Inhibit time 0


1976h

05h Event timer 0


78





1B76h


5.3.8.17 Receive PDO lift number 1 car drive status – profile position mode

This RPDO contains the current status information of the car drive unit. This RPDO shall be supportedif the car position is based on the profile position mode of the car drive unit.





1505h





01h Statusword 6401 00 10h

1705h

02h Control effort 6406 00 20h







1515h





01h Statusword 6C01 00 10h

1715h

02h Control effort 6C06 00 20h







1525h






1725h



79







1535h






1735h








1545h






1745h








1555h






1755h



80







1565h






1765h








1575h






1775h


5.3.8.25 Receive PDO lift number 1 car drive status – profile velocity mode

This RPDO contains the current status information of the car drive unit. This RPDO shall be supportedif the car position is based on the profile velocity mode of the car drive unit.





1507h






1707h

02h Velocity actual value 6433 00 20h


81







1517h






1717h

02h Velocity actual value 6C33 00 20h







1527h






1727h








1537h






1737h



82







1547h






1747h








1557h






1757h








1567h






1767h



83







1577h






1777h


5.3.8.33 Receive PDO lift number 1 load measuring

This RPDO contains the current status information of the load measuring unit.





1502h





01h Load signaling 6482 01 08h







1512h





01h Load signaling 6C82 01 08h







1522h



84











1532h












1542h












1552h












1562h



85











1572h






5.3.8.41 Receive PDO lift number 1 car position

This RPDO contains the current position of the car position unit 1.





1506h





01h Position unit 1 6383 01 20h







1516h





01h Position unit 1 6B83 01 20h







1526h



86











1536h












1546h












1556h












1566h



87











1576h












150Ah






170Ah








151Ah



88





171Ah








152Ah






172Ah








153Ah






173Ah








154Ah



89





174Ah








155Ah






175Ah








156Ah






176Ah








157Ah



90





177Ah








150Ch






170Ch








151Ch






171Ch








152Ch



91





172Ch








153Ah






173Ah








154Ch






174Ch








155Ch



92





175Ch








156Ch






176Ch








157Ch






177Ch








150Eh



93





170Eh








151Eh






171Eh








152Eh






172Eh








153Eh



94





173Eh








154Eh






174Eh








155Eh






175Eh








156Eh



95





176Eh








157Eh






177Eh


5.3.9 Car drive unit

5.3.9.1 Transmit PDO lift number 1 car drive status – profile position mode

This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmissiontype is set 255d. This TPDO shall be supported if the car drive is used in profile position mode.






03h Inhibit time 0


1905h

05h Event timer 0





1B05h









03h Inhibit time 0


1915h

05h Event timer 0


96





1B15h









03h Inhibit time 0


1925h

05h Event timer 0





1B25h









03h Inhibit time 0


1935h

05h Event timer 0





1B35h



97








03h Inhibit time 0


1945h

05h Event timer 0





1B45h









03h Inhibit time 0


1955h

05h Event timer 0





1B55h









03h Inhibit time 0


1965h

05h Event timer 0


98





1B65h









03h Inhibit time 0


1975h

05h Event timer 0





1B75h


5.3.9.9 Transmit PDO lift number 1 car drive status – profile velocity mode

This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmissiontype is set 255d. This TPDO shall be supported if the car drive is used in profile velocity mode.






03h Inhibit time 0


1907h

05h Event timer 0





1B07h



99








03h Inhibit time 0


1917h

05h Event timer 0





1B17h









03h Inhibit time 0


1927h

05h Event timer 0





1B27h









03h Inhibit time 0


1937h

05h Event timer 0


100





1B37h









03h Inhibit time 0


1947h

05h Event timer 0





1B47h









03h Inhibit time 0


1957h

05h Event timer 0





1B57h



101








03h Inhibit time 0


1967h

05h Event timer 0





1B67h









03h Inhibit time 0


1977h

05h Event timer 0





1B77h


5.3.9.17 Receive PDO lift number 1 car drive control – profile position mode

This RPDO contains the current control data including of the current target position. This RPDO shallbe supported if the car drive unit is used in profile position mode.





1504h






1704h



102







1514h






1714h








1524h






1724h








1534h






1734h



103







1544h






1744h








1554h






1754h








1564h






1764h



104







1574h






1774h


5.3.9.25 Receive PDO lift number 1 car drive control – profile velocity mode

This RPDO contains the current control data including of the current target velocity. This RPDO shallbe supported if the car drive unit is used in profile velocity mode.





1506h






1706h








1516h






1716h



105







1526h






1726h








1536h






1736h








1546h






1746h



106







1556h






1756h








1566h






1766h








1576h






1776h



This RPDO contains current status of the load measuring unit.





1502h



107











1512h












1522h












1532h












1542h



108











1552h












1562h












1572h







This RPDO contains current position of the car position unit 1.





1506h



109











1516h












1526h












1536h












1546h



110











1556h












1566h












1576h







111

5.3.10 Load measuring unit

5.3.10.1 Transmit PDO lift number 1 load measuring

This TPDO shall be transmitted whenever the status of the load measuring unit changes and thetransmission type is set to 255d.






03h Inhibit time 0


1902h

05h Event timer 0












03h Inhibit time 0


1912h

05h Event timer 0












03h Inhibit time 0


1922h

05h Event timer 0






112








03h Inhibit time 0


1932h

05h Event timer 0












03h Inhibit time 0


1942h

05h Event timer 0












03h Inhibit time 0


1952h

05h Event timer 0






113








03h Inhibit time 0


1962h

05h Event timer 0












03h Inhibit time 0


1972h

05h Event timer 0





5.3.11 Sensor unit

5.3.11.1 Transmit PDO sensor input

This TPDO shall be transmitted whenever the status of the sensor is changing and the transmissiontype is set to 255d.






03h Inhibit time 0


1981h

05h Event timer 0




01h Sensor input mapping 6012 00 30h


114

Annex A: Short overview of assignment

Offset to PDOparameter

Beschreibung COB-ID

000h -

001h MPDO (transmit) 500h + Node-ID

001h MPDO (receive) 501h

::: ::::: :::

07Fh MPDO (receive) 57Fh

080h -

081h Virtual input (transmit) 380h + Node-ID

081h Virtual input (receive) 381h

::: ::::: :::

0FFh Virtual input (receive) 3FFh

100h Virtual output 400h

101h Load measuring 188h

102h Car drive control – profile position mode 180h

103h Car drive status – profile position mode 181h

104h Car drive control – profile velocity mode 184h

105h Car drive status – profile velocity mode 185h

106h Car position 1 18Ch

107h Car position 2 18Dh

108h Car door control 200h

109h -

10Ah Car door 1 status + position 201h

10Bh Car door 1 light barrier 205h

10Ch Car door 2 status + position 202h

10Dh Car door 2 light barrier 206h

10Eh Car door 3 status + position 203h

10Fh

Lift

1

Car door 3 light barrier 207h


111h Load measuring 198h

112h Car drive control – profile position mode 190h

113h Car drive status – profile position mode 191h

114h Car drive control – profile velocity mode 194h

115h Car drive status – profile velocity mode 195h

116h Car position 1 19Ch

117h Car position 2 19Dh


119h -






11Fh

Lift

2



115

Offset to PDOparameter

Beschreibung COB-ID

:::::::::::::


171h Load measuring 1F8h

172h Car drive control – profile position mode 1F0h

173h Car drive status – profile position mode 1F1h

174h Car drive control – profile velocity mode 1F4h

175h Car drive status – profile velocity mode 1F5h

176h Car position 1 1FCh

177h Car position 2 1FDh


179h -






17Fh

Lift

8


180h -

181h Sensor input (transmit) 280h + Node-ID

181h Sensor input (receive) 281h

::: ::::: :::

1FFh Sensor input (receive) 2FFh

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