CiA Draft Standard Proposal 417-3

CANopen Application 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

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

ii

CiA

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

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 5.3.1.2 5.3.1.3 5.3.1.4 5.3.1.5 5.3.1.6 5.3.1.7 5.3.1.8 5.3.1.9

5.3.2

Input panel unit.............................................................................................................15 5.3.2.1

5.3.3

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

Output panel unit..........................................................................................................15 5.3.3.1 5.3.3.2 5.3.3.3 5.3.3.4 5.3.3.5 5.3.3.6 5.3.3.7 5.3.3.8

5.3.4

Transmit PDO lift number 1 virtual output .....................................................12 Transmit PDO lift number 2 virtual output .....................................................12 Transmit PDO lift number 3 virtual output .....................................................13 Transmit PDO lift number 4 virtual output .....................................................13 Transmit PDO lift number 5 virtual output .....................................................13 Transmit PDO lift number 6 virtual output .....................................................14 Transmit PDO lift number 7 virtual output .....................................................14 Transmit PDO lift number 8 virtual output .....................................................14 Receive PDO virtual input..............................................................................15

Receive PDO lift number 1 virtual output ......................................................15 Receive PDO lift number 2 virtual output ......................................................16 Receive PDO lift number 3 virtual output ......................................................16 Receive PDO lift number 4 virtual output ......................................................16 Receive PDO lift number 5 virtual output ......................................................16 Receive PDO lift number 6 virtual output ......................................................17 Receive PDO lift number 7 virtual output ......................................................17 Receive PDO lift number 8 virtual output ......................................................17

Car door controller .......................................................................................................18 iii

DSP 417-3 1.0.1 5.3.4.1 5.3.4.2 5.3.4.3 5.3.4.4 5.3.4.5 5.3.4.6 5.3.4.7 5.3.4.8 5.3.4.9 5.3.4.10 5.3.4.11 5.3.4.12 5.3.4.13 5.3.4.14 5.3.4.15 5.3.4.16 5.3.4.17 5.3.4.18 5.3.4.19 5.3.4.20 5.3.4.21 5.3.4.22 5.3.4.23 5.3.4.24 5.3.4.25 5.3.4.26 5.3.4.27 5.3.4.28 5.3.4.29 5.3.4.30 5.3.4.31 5.3.4.32 5.3.4.33 5.3.4.34 5.3.4.35 5.3.4.36 5.3.4.37 5.3.4.38 5.3.4.39 5.3.4.40 5.3.4.41 5.3.4.42 5.3.4.43 5.3.4.44 5.3.4.45 5.3.4.46 5.3.4.47 5.3.4.48 5.3.4.49 5.3.4.50 5.3.4.51 5.3.4.52 5.3.4.53 5.3.4.54 5.3.4.55 5.3.4.56 5.3.5

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO lift number 1 car door control.................................................18 Transmit PDO lift number 2 car door control.................................................18 Transmit PDO lift number 3 car door control.................................................19 Transmit PDO lift number 4 car door control.................................................19 Transmit PDO lift number 5 car door control.................................................19 Transmit PDO lift number 6 car door control.................................................20 Transmit PDO lift number 7 car door control.................................................20 Transmit PDO lift number 8 car door control.................................................21 Receive PDO lift number 1 car door 1 status and position...........................21 Receive PDO lift number 2 car door 1 status and position...........................21 Receive PDO lift number 3 car door 1 status and position...........................22 Receive PDO lift number 4 car door 1 status and position...........................22 Receive PDO lift number 5 car door 1 status and position...........................22 Receive PDO lift number 6 car door 1 status and position...........................23 Receive PDO lift number 7 car door 1 status and position...........................23 Receive PDO lift number 8 car door 1 status and position...........................23 Receive PDO lift number 1 car door 1 light barrier.......................................24 Receive PDO lift number 2 car door 1 light barrier.......................................24 Receive PDO lift number 3 car door 1 light barrier.......................................24 Receive PDO lift number 4 car door 1 light barrier.......................................24 Receive PDO lift number 5 car door 1 light barrier.......................................25 Receive PDO lift number 6 car door 1 light barrier.......................................25 Receive PDO lift number 7 car door 1 light barrier.......................................25 Receive PDO lift number 8 car door 1 light barrier.......................................25 Receive PDO lift number 1 car door 2 status and position...........................26 Receive PDO lift number 2 car door 2 status and position...........................26 Receive PDO lift number 3 car door 2 status and position...........................26 Receive PDO lift number 4 car door 2 status and position...........................27 Receive PDO lift number 5 car door 2 status and position...........................27 Receive PDO lift number 6 car door 2 status and position...........................27 Receive PDO lift number 7 car door 2 status and position...........................28 Receive PDO lift number 8 car door 2 status and position...........................28 Receive PDO lift number 1 car door 2 light barrier.......................................28 Receive PDO lift number 2 car door 2 light barrier.......................................29 Receive PDO lift number 3 car door 2 light barrier.......................................29 Receive PDO lift number 4 car door 2 light barrier.......................................29 Receive PDO lift number 5 car door 2 light barrier.......................................29 Receive PDO lift number 6 car door 2 light barrier.......................................30 Receive PDO lift number 7 car door 2 light barrier.......................................30 Receive PDO lift number 8 car door 2 light barrier.......................................30 Receive PDO lift number 1 car door 3 status and position...........................30 Receive PDO lift number 2 car door 3 status and position...........................31 Receive PDO lift number 3 car door 3 status and position...........................31 Receive PDO lift number 4 car door 3 status and position...........................31 Receive PDO lift number 5 car door 3 status and position...........................32 Receive PDO lift number 6 car door 3 status and position...........................32 Receive PDO lift number 7 car door 3 status and position...........................32 Receive PDO lift number 8 car door 3 status and position...........................33 Receive PDO lift number 1 car door 3 light barrier.......................................33 Receive PDO lift number 2 car door 3 light barrier.......................................33 Receive PDO lift number 3 car door 3 light barrier.......................................34 Receive PDO lift number 4 car door 3 light barrier.......................................34 Receive PDO lift number 5 car door 3 light barrier.......................................34 Receive PDO lift number 6 car door 3 light barrier.......................................34 Receive PDO lift number 7 car door 3 light barrier.......................................35 Receive PDO lift number 8 car door 3 light barrier.......................................35

Car door unit.................................................................................................................35 5.3.5.1 5.3.5.2 5.3.5.3 5.3.5.4 5.3.5.5

Transmit PDO lift number 1 car door 1 status and position..........................35 Transmit PDO lift number 2 car door 1 status and position..........................36 Transmit PDO lift number 3 car door 1 status and position..........................36 Transmit PDO lift number 4 car door 1 status and position..........................37 Transmit PDO lift number 5 car door 1 status and position..........................37 iv

DSP 417-3 1.0.1 5.3.5.6 5.3.5.7 5.3.5.8 5.3.5.9 5.3.5.10 5.3.5.11 5.3.5.12 5.3.5.13 5.3.5.14 5.3.5.15 5.3.5.16 5.3.5.17 5.3.5.18 5.3.5.19 5.3.5.20 5.3.5.21 5.3.5.22 5.3.5.23 5.3.5.24 5.3.5.25 5.3.5.26 5.3.5.27 5.3.5.28 5.3.5.29 5.3.5.30 5.3.5.31 5.3.5.32 5.3.5.33 5.3.5.34 5.3.5.35 5.3.5.36 5.3.5.37 5.3.5.38 5.3.5.39 5.3.5.40 5.3.5.41 5.3.5.42 5.3.5.43 5.3.5.44 5.3.5.45 5.3.5.46 5.3.5.47 5.3.5.48 5.3.5.49 5.3.5.50 5.3.5.51 5.3.5.52 5.3.5.53 5.3.5.54 5.3.5.55 5.3.5.56 5.3.6

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO lift number 6 car door 1 status and position..........................38 Transmit PDO lift number 7 car door 1 status and position..........................38 Transmit PDO lift number 8 car door 1 status and position..........................39 Transmit PDO lift number 1 car door 2 status and position..........................39 Transmit PDO lift number 2 car door 2 status and position..........................40 Transmit PDO lift number 3 car door 2 status and position..........................40 Transmit PDO lift number 4 car door 2 status and position..........................41 Transmit PDO lift number 5 car door 2 status and position..........................41 Transmit PDO lift number 6 car door 2 status and position..........................42 Transmit PDO lift number 7 car door 2 status and position..........................42 Transmit PDO lift number 8 car door 2 status and position..........................43 Transmit PDO lift number 1 car door 3 status and position..........................43 Transmit PDO lift number 2 car door 3 status and position..........................44 Transmit PDO lift number 3 car door 3 status and position..........................44 Transmit PDO lift number 4 car door 3 status and position..........................45 Transmit PDO lift number 5 car door 3 status and position..........................45 Transmit PDO lift number 6 car door 3 status and position..........................46 Transmit PDO lift number 7 car door 3 status and position..........................46 Transmit PDO lift number 8 car door 3 status and position..........................47 Receive PDO lift number 1 car door control..................................................47 Receive PDO lift number 2 car door control..................................................47 Receive PDO lift number 3 car door control..................................................48 Receive PDO lift number 4 car door control..................................................48 Receive PDO lift number 5 car door control..................................................48 Receive PDO lift number 6 car door control..................................................49 Receive PDO lift number 7 car door control..................................................49 Receive PDO lift number 8 car door control..................................................49 Receive PDO lift number 1 light barrier 1......................................................50 Receive PDO lift number 2 light barrier 1......................................................50 Receive PDO lift number 3 light barrier 1......................................................50 Receive PDO lift number 4 light barrier 1......................................................51 Receive PDO lift number 5 light barrier 1......................................................51 Receive PDO lift number 6 light barrier 1......................................................51 Receive PDO lift number 7 light barrier 1......................................................52 Receive PDO lift number 8 light barrier 1......................................................52 Receive PDO lift number 1 light barrier 2......................................................52 Receive PDO lift number 2 light barrier 2......................................................53 Receive PDO lift number 3 light barrier 2......................................................53 Receive PDO lift number 4 light barrier 2......................................................53 Receive PDO lift number 5 light barrier 2......................................................54 Receive PDO lift number 6 light barrier 2......................................................54 Receive PDO lift number 7 light barrier 2......................................................54 Receive PDO lift number 8 light barrier 2......................................................55 Receive PDO lift number 1 light barrier 3......................................................55 Receive PDO lift number 2 light barrier 3......................................................55 Receive PDO lift number 3 light barrier 3......................................................56 Receive PDO lift number 4 light barrier 3......................................................56 Receive PDO lift number 5 light barrier 3......................................................56 Receive PDO lift number 6 light barrier 3......................................................57 Receive PDO lift number 7 light barrier 3......................................................57 Receive PDO lift number 8 light barrier 3......................................................57

Light barrier unit ...........................................................................................................58 5.3.6.1 5.3.6.2 5.3.6.3 5.3.6.4 5.3.6.5 5.3.6.6 5.3.6.7 5.3.6.8 5.3.6.9 5.3.6.10

Transmit PDO lift number 1 light barrier 1.....................................................58 Transmit PDO lift number 2 light barrier 1.....................................................58 Transmit PDO lift number 3 light barrier 1.....................................................58 Transmit PDO lift number 4 light barrier 1.....................................................59 Transmit PDO lift number 5 light barrier 1.....................................................59 Transmit PDO lift number 6 light barrier 1.....................................................59 Transmit PDO lift number 7 light barrier 1.....................................................60 Transmit PDO lift number 8 light barrier 1.....................................................60 Transmit PDO lift number 1 light barrier 2.....................................................60 Transmit PDO lift number 2 light barrier 2.....................................................61 v

DSP 417-3 1.0.1 5.3.6.11 5.3.6.12 5.3.6.13 5.3.6.14 5.3.6.15 5.3.6.16 5.3.6.17 5.3.6.18 5.3.6.19 5.3.6.20 5.3.6.21 5.3.6.22 5.3.6.23 5.3.6.24 5.3.7

CiA

Transmit PDO lift number 3 light barrier 2.....................................................61 Transmit PDO lift number 4 light barrier 2.....................................................61 Transmit PDO lift number 5 light barrier 2.....................................................62 Transmit PDO lift number 6 light barrier 2.....................................................62 Transmit PDO lift number 7 light barrier 2.....................................................62 Transmit PDO lift number 8 light barrier 2.....................................................63 Transmit PDO lift number 1 light barrier 3.....................................................63 Transmit PDO lift number 2 light barrier 3.....................................................63 Transmit PDO lift number 3 light barrier 3.....................................................64 Transmit PDO lift number 4 light barrier 3.....................................................64 Transmit PDO lift number 5 light barrier 3.....................................................64 Transmit PDO lift number 6 light barrier 3.....................................................65 Transmit PDO lift number 7 light barrier 3.....................................................65 Transmit PDO lift number 8 light barrier 3.....................................................65

Position unit ..................................................................................................................66 5.3.7.1 5.3.7.2 5.3.7.3 5.3.7.4 5.3.7.5 5.3.7.6 5.3.7.7 5.3.7.8 5.3.7.9 5.3.7.10 5.3.7.11 5.3.7.12 5.3.7.13 5.3.7.14 5.3.7.15 5.3.7.16

5.3.8

CANopen Application Profile for Lift Control Systems

Transmit PDO lift number 1 car position 1 ....................................................66 Transmit PDO lift number 2 car position 1 ....................................................66 Transmit PDO lift number 3 car position 1 ....................................................67 Transmit PDO lift number 4 car position 1 ....................................................67 Transmit PDO lift number 5 car position 1 ....................................................67 Transmit PDO lift number 6 car position 1 ....................................................68 Transmit PDO lift number 7 car position 1 ....................................................68 Transmit PDO lift number 8 car position 1 ....................................................68 Transmit PDO lift number 1 car position 2 ....................................................69 Transmit PDO lift number 2 car position 2 ....................................................69 Transmit PDO lift number 3 car position 2 ....................................................69 Transmit PDO lift number 4 car position 2 ....................................................70 Transmit PDO lift number 5 car position 2 ....................................................70 Transmit PDO lift number 6 car position 2 ....................................................70 Transmit PDO lift number 7 car position 2 ....................................................71 Transmit PDO lift number 8 car position 2 ....................................................71

Car drive controller.......................................................................................................71 5.3.8.1 5.3.8.2 5.3.8.3 5.3.8.4 5.3.8.5 5.3.8.6 5.3.8.7 5.3.8.8 5.3.8.9 5.3.8.10 5.3.8.11 5.3.8.12 5.3.8.13 5.3.8.14 5.3.8.15 5.3.8.16 5.3.8.17 5.3.8.18 5.3.8.19 5.3.8.20 5.3.8.21 5.3.8.22 5.3.8.23 5.3.8.24 5.3.8.25 5.3.8.26 5.3.8.27 5.3.8.28 5.3.8.29

Transmit PDO lift number 1 car drive control – profile postion mode ..........71 Transmit PDO lift number 2 car drive control – profile postion mode ..........72 Transmit PDO lift number 3 car drive control – profile postion mode ..........72 Transmit PDO lift number 4 car drive control – profile postion mode ..........73 Transmit PDO lift number 5 car drive control – profile postion mode ..........73 Transmit PDO lift number 6 car drive control – profile postion mode ..........73 Transmit PDO lift number 7 car drive control – profile postion mode ..........74 Transmit PDO lift number 8 car drive control – profile postion mode ..........74 Transmit PDO lift number 1 car drive control – profile velocity mode..........75 Transmit PDO lift number 2 car drive control – profile velocity mode..........75 Transmit PDO lift number 3 car drive control – profile velocity mode..........75 Transmit PDO lift number 4 car drive control – profile velocity mode..........76 Transmit PDO lift number 5 car drive control – profile velocity mode..........76 Transmit PDO lift number 6 car drive control – profile velocity mode..........77 Transmit PDO lift number 7 car drive control – profile velocity mode..........77 Transmit PDO lift number 8 car drive control – profile velocity mode..........77 Receive PDO lift number 1 car drive status – profile position mode............78 Receive PDO lift number 2 car drive status – profile position mode............78 Receive PDO lift number 3 car drive status – profile position mode............78 Receive PDO lift number 4 car drive status – profile position mode............79 Receive PDO lift number 5 car drive status – profile position mode............79 Receive PDO lift number 6 car drive status – profile position mode............79 Receive PDO lift number 7 car drive status – profile position mode............80 Receive PDO lift number 8 car drive status – profile position mode............80 Receive PDO lift number 1 car drive status – profile velocity mode ............80 Receive PDO lift number 2 car drive status – profile velocity mode ............81 Receive PDO lift number 3 car drive status – profile velocity mode ............81 Receive PDO lift number 4 car drive status – profile velocity mode ............81 Receive PDO lift number 5 car drive status – profile velocity mode ............82 vi

DSP 417-3 1.0.1 5.3.8.30 5.3.8.31 5.3.8.32 5.3.8.33 5.3.8.34 5.3.8.35 5.3.8.36 5.3.8.37 5.3.8.38 5.3.8.39 5.3.8.40 5.3.8.41 5.3.8.42 5.3.8.43 5.3.8.44 5.3.8.45 5.3.8.46 5.3.8.47 5.3.8.48 5.3.8.49 5.3.8.50 5.3.8.51 5.3.8.52 5.3.8.53 5.3.8.54 5.3.8.55 5.3.8.56 5.3.8.57 5.3.8.58 5.3.8.59 5.3.8.60 5.3.8.61 5.3.8.62 5.3.8.63 5.3.8.64 5.3.8.65 5.3.8.66 5.3.8.67 5.3.8.68 5.3.8.69 5.3.8.70 5.3.8.71 5.3.8.72 5.3.9

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO lift number 6 car drive status – profile velocity mode ............82 Receive PDO lift number 7 car drive status – profile velocity mode ............82 Receive PDO lift number 8 car drive status – profile velocity mode ............83 Receive PDO lift number 1 load measuring..................................................83 Receive PDO lift number 2 load measuring..................................................83 Receive PDO lift number 3 load measuring..................................................83 Receive PDO lift number 4 load measuring..................................................84 Receive PDO lift number 5 load measuring..................................................84 Receive PDO lift number 6 load measuring..................................................84 Receive PDO lift number 7 load measuring..................................................84 Receive PDO lift number 8 load measuring..................................................85 Receive PDO lift number 1 car position ........................................................85 Receive PDO lift number 2 car position ........................................................85 Receive PDO lift number 3 car position ........................................................85 Receive PDO lift number 4 car position ........................................................86 Receive PDO lift number 5 car position ........................................................86 Receive PDO lift number 6 car position ........................................................86 Receive PDO lift number 7 car position ........................................................86 Receive PDO lift number 8 car position ........................................................87 Receive PDO lift number 1 car door 1 status and position...........................87 Receive PDO lift number 2 car door 1 status and position...........................87 Receive PDO lift number 3 car door 1 status and position...........................88 Receive PDO lift number 4 car door 1 status and position...........................88 Receive PDO lift number 5 car door 1 status and position...........................88 Receive PDO lift number 6 car door 1 status and position...........................89 Receive PDO lift number 7 car door 1 status and position...........................89 Receive PDO lift number 8 car door 1 status and position...........................89 Receive PDO lift number 1 car door 2 status and position...........................90 Receive PDO lift number 2 car door 2 status and position...........................90 Receive PDO lift number 3 car door 2 status and position...........................90 Receive PDO lift number 4 car door 2 status and position...........................91 Receive PDO lift number 5 car door 2 status and position...........................91 Receive PDO lift number 6 car door 2 status and position...........................91 Receive PDO lift number 7 car door 2 status and position...........................92 Receive PDO lift number 8 car door 2 status and position...........................92 Receive PDO lift number 1 car door 3 status and position...........................92 Receive PDO lift number 2 car door 3 status and position...........................93 Receive PDO lift number 3 car door 3 status and position...........................93 Receive PDO lift number 4 car door 3 status and position...........................93 Receive PDO lift number 5 car door 3 status and position...........................94 Receive PDO lift number 6 car door 3 status and position...........................94 Receive PDO lift number 7 car door 3 status and position...........................94 Receive PDO lift number 8 car door 3 status and position...........................95

Car drive unit ................................................................................................................95 5.3.9.1 5.3.9.2 5.3.9.3 5.3.9.4 5.3.9.5 5.3.9.6 5.3.9.7 5.3.9.8 5.3.9.9 5.3.9.10 5.3.9.11 5.3.9.12 5.3.9.13 5.3.9.14 5.3.9.15 5.3.9.16 5.3.9.17 5.3.9.18

Transmit PDO lift number 1 car drive status – profile position mode...........95 Transmit PDO lift number 2 car drive status – profile position mode...........95 Transmit PDO lift number 3 car drive status – profile position mode...........96 Transmit PDO lift number 4 car drive status – profile position mode...........96 Transmit PDO lift number 5 car drive status – profile position mode...........97 Transmit PDO lift number 6 car drive status – profile position mode...........97 Transmit PDO lift number 7 car drive status – profile position mode...........97 Transmit PDO lift number 8 car drive status – profile position mode...........98 Transmit PDO lift number 1 car drive status – profile velocity mode ...........98 Transmit PDO lift number 2 car drive status – profile velocity mode ...........99 Transmit PDO lift number 3 car drive status – profile velocity mode ...........99 Transmit PDO lift number 4 car drive status – profile velocity mode ...........99 Transmit PDO lift number 5 car drive status – profile velocity mode .........100 Transmit PDO lift number 6 car drive status – profile velocity mode .........100 Transmit PDO lift number 7 car drive status – profile velocity mode .........101 Transmit PDO lift number 8 car drive status – profile velocity mode .........101 Receive PDO lift number 1 car drive control – profile position mode ........101 Receive PDO lift number 2 car drive control – profile position mode ........102 vii

DSP 417-3 1.0.1 5.3.9.19 5.3.9.20 5.3.9.21 5.3.9.22 5.3.9.23 5.3.9.24 5.3.9.25 5.3.9.26 5.3.9.27 5.3.9.28 5.3.9.29 5.3.9.30 5.3.9.31 5.3.9.32 5.3.9.33 5.3.9.34 5.3.9.35 5.3.9.36 5.3.9.37 5.3.9.38 5.3.9.39 5.3.9.40 5.3.9.41 5.3.9.42 5.3.9.43 5.3.9.44 5.3.9.45 5.3.9.46 5.3.9.47 5.3.9.48 5.3.10

CiA

Receive PDO lift number 3 car drive control – profile position mode ........102 Receive PDO lift number 4 car drive control – profile position mode ........102 Receive PDO lift number 5 car drive control – profile position mode ........103 Receive PDO lift number 6 car drive control – profile position mode ........103 Receive PDO lift number 7 car drive control – profile position mode ........103 Receive PDO lift number 8 car drive control – profile position mode ........104 Receive PDO lift number 1 car drive control – profile velocity mode.........104 Receive PDO lift number 2 car drive control – profile velocity mode.........104 Receive PDO lift number 3 car drive control – profile velocity mode.........105 Receive PDO lift number 4 car drive control – profile velocity mode.........105 Receive PDO lift number 5 car drive control – profile velocity mode.........105 Receive PDO lift number 6 car drive control – profile velocity mode.........106 Receive PDO lift number 7 car drive control – profile velocity mode.........106 Receive PDO lift number 8 car drive control – profile velocity mode.........106 Receive PDO lift number 1 load measuring................................................106 Receive PDO lift number 2 load measuring................................................107 Receive PDO lift number 3 load measuring................................................107 Receive PDO lift number 4 load measuring................................................107 Receive PDO lift number 5 load measuring................................................107 Receive PDO lift number 6 load measuring................................................108 Receive PDO lift number 7 load measuring................................................108 Receive PDO lift number 8 load measuring................................................108 Receive PDO lift number 1 car position ......................................................108 Receive PDO lift number 2 car position ......................................................109 Receive PDO lift number 3 car position ......................................................109 Receive PDO lift number 4 car position ......................................................109 Receive PDO lift number 5 car position ......................................................109 Receive PDO lift number 6 car position ......................................................110 Receive PDO lift number 7 car position ......................................................110 Receive PDO lift number 8 car position ......................................................110

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

5.3.10.1 5.3.10.2 5.3.10.3 5.3.10.4 5.3.10.5 5.3.10.6 5.3.10.7 5.3.10.8 5.3.11

CANopen Application Profile for Lift Control Systems

Transmit PDO lift number 1 load measuring...............................................111 Transmit PDO lift number 2 load measuring...............................................111 Transmit PDO lift number 3 load measuring...............................................111 Transmit PDO lift number 4 load measuring...............................................112 Transmit PDO lift number 5 load measuring...............................................112 Transmit PDO lift number 6 load measuring...............................................112 Transmit PDO lift number 7 load measuring...............................................113 Transmit PDO lift number 8 load measuring...............................................113

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

5.3.11.1

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

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

viii

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

1 Scope This part of the application profile specifies different pre-definitions for communication objects, in particular 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 some communication 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

Virtual device code

16 15

0

reserved (00h)

Number of device profile: 417d

MSB

LSB

If the device implements only one virtual device, the additional information contains the virtual device code 8 bit), and the supported default communication model (8 bit). If the device codes is ‘0’, the physical device is supporting more than only one virtual device. In this case, the object 6000h contains the codes of the all supported virtual devices. Codes of virtual device: Code 00h 01h 02h 03h 04h 05h 06h 07h 08h 09h 0Ah 0Bh 0Ch ::::: FFh

4.3

Function Multiple virtual device Call controller Input panel unit Output panel unit Car door controller Car door unit Car position unit Light barrier unit Car drive controller Car drive unit Load measuring unit Sensor unit reserved ::::: reserved

Object 1001h: Error register

The device profile specific bit in the error register is reserved for future use. 9

DSP 417-3 1.0.1

4.4

CANopen Application Profile for Lift Control Systems

CiA

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 a device internal error is detected. Besides the specification given in /CiA301/ the following sub-indexes may be implemented optionally. If the object is not implemented the device shall behave as the default values 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

10

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

5 Pre-defined PDO communication 5.1

Introduction

Each physical device compliant to this application profile provides one MPDO in Destination Address Mode (DAM) to be transmitted in broadcast (addr = 0) and up to 127 MPDOs in DAM mode to be received. Depending on the multiplexor (corresponding to index and sub-index) the MPDO consumer entries the received data into its object dictionary or it ignores the received MPDO. The MPDO producer shall transmit all application objects of the physical device, which features a PDO mapping attribute of the value default. In addition, the MPDO may be used to transmit application featuring PDP mapping 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 the assigned node-ID. Object dictionary entry indexes of PDO communication parameter and PDO mapping parameter given in this part of the application profile are mandatory. This may exclude some combinations of virtual devices in one physical device. The system designer may use other object dictionary entry indexes of PDO communication and mapping parameters. Note: In this case, the system designer is responsible for consistency of PDO parameters.

5.2 5.2.1

MPDOs of the physical device Transmit MPDO

Depending on the implemented virtual devices, the physical device may transmit the MPDO whenever one of the application object changes its value except the application object is mapped to a TPDO. Transmit MPDO communication parameter Index Sub-Index Comment 1801h 00h Largest sub-index supported 01h COB-ID used by PDO 02h Transmission type 03h Inhibit time 04h reserved 05h Event timer

Default Value No 500h + Node-ID 255d 0 See /CiA301/ 0

Transmit MPDO mapping parameter Index Sub-Index Comment 1A01h 00h Number of mapped objects 5.2.2

Default Value 255d

Receive MPDOs

Each physical may support up to 127 MPDO to be received. Depending on the implemented virtual devices and the application objects, the received data will be enter in the object dictionary corresponding to the multiplexor (index and sub-index). Note: The MPDO consumer parameters corresponding to the physical device’s transmitted MPDO may not be supported. Receive MPDO communication parameter Index Sub-Index Comment 1401h 00h Largest sub-index supported to 01h COB-ID used by PDO 147Fh 02h Transmission type

11

Default Value No 501h to 57Fh 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive MPDO mapping parameter Index Sub-Index Comment 1601h 00h Number of mapped objects to 167Fh

5.3

Default Value 255d

Pre-defined virtual device PDOs

5.3.1 5.3.1.1

Call controller 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 generic output devices or likes to acknowledge an outstanding call request to the input panel. Transmit PDO communication parameter Index Sub-Index Comment 1900h 00h Largest sub-index supported 01h COB-ID used by PDO 02h Transmission type 03h Inhibit time 04h reserved 05h Event timer

Default Value No 400h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index Sub-Index Comment 1B00h 00h Number of mapped objects 01h Virtual output mapping 5.3.1.2

Default Value 1 6011 00 30h

Transmit PDO lift number 2 virtual output

This TPDO shall be transmitted whenever the call controller likes to set an output in any of the generic output devices or likes to acknowledge an outstanding call request to the input panel. Transmit PDO communication parameter Index Sub-Index Comment 1910h 00h Largest sub-index supported 01h COB-ID used by PDO 02h Transmission type 03h Inhibit time 04h reserved 05h Event timer

Default Value No 401h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index Sub-Index Comment 1B10h 00h Number of mapped objects 01h Virtual output mapping

12

Default Value 1 6011 00 30h

DSP 417-3 1.0.1 5.3.1.3

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO lift number 3 virtual output

This TPDO shall be transmitted whenever the call controller likes to set an output in any of the generic output devices or likes to acknowledge an outstanding call request to the input panel. Transmit PDO communication parameter Index Sub-Index Comment 1920h 00h Largest sub-index supported 01h COB-ID used by PDO 02h Transmission type 03h Inhibit time 04h reserved 05h Event timer

Default Value No 402h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index Sub-Index Comment 1B20h 00h Number of mapped objects 01h Virtual output mapping 5.3.1.4

Default Value 1 6011 00 30h

Transmit PDO lift number 4 virtual output

This TPDO shall be transmitted whenever the call controller likes to set an output in any of the generic output devices or likes to acknowledge an outstanding call request to the input panel. Transmit PDO communication parameter Index Sub-Index Comment 1930h 00h Largest sub-index supported 01h COB-ID used by PDO 02h Transmission type 03h Inhibit time 04h reserved 05h Event timer

Default Value No 403h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index Sub-Index Comment 1B30h 00h Number of mapped objects 01h Virtual output mapping 5.3.1.5

Default Value 1 6011 00 30h

Transmit PDO lift number 5 virtual output

This TPDO shall be transmitted whenever the call controller likes to set an output in any of the generic output devices or likes to acknowledge an outstanding call request to the input panel. Transmit PDO communication parameter Index Sub-Index Comment 1940h 00h Largest sub-index supported 01h COB-ID used by PDO 02h Transmission type 03h Inhibit time 04h reserved 05h Event timer

Default Value No 404h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index Sub-Index Comment 1B40h 00h Number of mapped objects 01h Virtual output mapping

13

Default Value 1 6011 00 30h

DSP 417-3 1.0.1 5.3.1.6

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO lift number 6 virtual output

This TPDO shall be transmitted whenever the call controller likes to set an output in any of the generic output devices or likes to acknowledge an outstanding call request to the input panel. Transmit PDO communication parameter Index Sub-Index Comment 1950h 00h Largest sub-index supported 01h COB-ID used by PDO 02h Transmission type 03h Inhibit time 04h reserved 05h Event timer

Default Value No 405h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index Sub-Index Comment 1B50h 00h Number of mapped objects 01h Virtual output mapping 5.3.1.7

Default Value 1 6011 00 30h

Transmit PDO lift number 7 virtual output

This TPDO shall be transmitted whenever the call controller likes to set an output in any of the generic output devices or likes to acknowledge an outstanding call request to the input panel. Transmit PDO communication parameter Index Sub-Index Comment 1960h 00h Largest sub-index supported 01h COB-ID used by PDO 02h Transmission type 03h Inhibit time 04h reserved 05h Event timer

Default Value No 406h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index Sub-Index Comment 1B60h 00h Number of mapped objects 01h Virtual output mapping 5.3.1.8

Default Value 1 6011 00 30h

Transmit PDO lift number 8 virtual output

This TPDO shall be transmitted whenever the call controller likes to set an output in any of the generic output devices or likes to acknowledge an outstanding call request to the input panel. Transmit PDO communication parameter Index Sub-Index Comment 1970h 00h Largest sub-index supported 01h COB-ID used by PDO 02h Transmission type 03h Inhibit time 04h reserved 05h Event timer

Default Value No 407h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index Sub-Index Comment 1B70h 00h Number of mapped objects 01h Virtual output mapping

14

Default Value 1 6011 00 30h

DSP 417-3 1.0.1 5.3.1.9

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO virtual input

This RPDO contains function data, which shall be stored in one of the sub-objects of the call acknowledge object depending on the function. Receive PDO communication parameter Index Sub-Index Comment 1481h 00h Largest sub-index supported to 01h COB-ID used by PDO 14FFh 02h Transmission type

Default Value No 481h to 4FFh 255d

Receive PDO mapping parameter Index Sub-Index Comment 1681h 00h Number of mapped objects to 01h Virtual input mapping 16FFh 5.3.2 5.3.2.1

Default Value 1 6010 00 30h

Input panel unit Transmit PDO virtual input

This TPDO shall be transmitted whenever the input panel have to request a call, e.g. issued by an user action. Transmit PDO communication parameter Index Sub-Index Comment 1881h 00h Largest sub-index supported 01h COB-ID used by PDO 02h Transmission type 03h Inhibit time 04h reserved 05h Event timer

Default Value No 480h + Node-ID 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index Sub-Index Comment 1A81h 00h Number of mapped objects 01h Virtual input mapping 5.3.3 5.3.3.1

Default Value 1 6010 00 30h

Output panel unit Receive PDO lift number 1 virtual output

This RPDO contains function data, which shall be stored in one of the sub-objects of the call acknowledge objects or output display objects depending on the function. Receive PDO communication parameter Index Sub-Index Comment 1500h 00h Largest sub-index supported 01h COB-ID used by PDO 02h Transmission type

Default Value No 400h 255d

Receive PDO mapping parameter Index Sub-Index Comment 1700h 00h Number of mapped objects 01h Virtual output mapping

15

Default Value 1 6011 00 30h

DSP 417-3 1.0.1 5.3.3.2

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO lift number 2 virtual output

This RPDO contains function data, which shall be stored in one of the sub-objects of the call acknowledge objects or output display objects depending on the function. Receive PDO communication parameter Index 1510h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 401h 255d

Receive PDO mapping parameter Index 1710h 5.3.3.3

Sub-Index Comment 00h Number of mapped objects 01h Virtual output mapping

Default Value 1 6011 00 30h

Receive PDO lift number 3 virtual output

This RPDO contains function data, which shall be stored in one of the sub-objects of the call acknowledge objects or output display objects depending on the function. Receive PDO communication parameter Index 1520h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 402h 255d

Receive PDO mapping parameter Index 1720h 5.3.3.4

Sub-Index Comment 00h Number of mapped objects 01h Virtual output mapping

Default Value 1 6011 00 30h

Receive PDO lift number 4 virtual output

This RPDO contains function data, which shall be stored in one of the sub-objects of the call acknowledge objects or output display objects depending on the function. Receive PDO communication parameter Index 1530h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 403h 255d

Receive PDO mapping parameter Index 1730h 5.3.3.5

Sub-Index Comment 00h Number of mapped objects 01h Virtual output mapping

Default Value 1 6011 00 30h

Receive PDO lift number 5 virtual output

This RPDO contains function data, which shall be stored in one of the sub-objects of the call acknowledge objects or output display objects depending on the function. Receive PDO communication parameter Index 1540h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

16

Default Value No 404h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 1740h 5.3.3.6

Sub-Index Comment 00h Number of mapped objects 01h Virtual output mapping

Default Value 1 6011 00 30h

Receive PDO lift number 6 virtual output

This RPDO contains function data, which shall be stored in one of the sub-objects of the call acknowledge objects or output display objects depending on the function. Receive PDO communication parameter Index 1550h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 405h 255d

Receive PDO mapping parameter Index 1750h 5.3.3.7

Sub-Index Comment 00h Number of mapped objects 01h Virtual output mapping

Default Value 1 6011 00 30h

Receive PDO lift number 7 virtual output

This RPDO contains function data, which shall be stored in one of the sub-objects of the call acknowledge objects or output display objects depending on the function. Receive PDO communication parameter Index 1560h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 406h 255d

Receive PDO mapping parameter Index 1760h 5.3.3.8

Sub-Index Comment 00h Number of mapped objects 01h Virtual output mapping

Default Value 1 6011 00 30h

Receive PDO lift number 8 virtual output

This RPDO contains function data, which shall be stored in one of the sub-objects of the call acknowledge objects or output display objects depending on the function. Receive PDO communication parameter Index 1570h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 407h 255d

Receive PDO mapping parameter Index 1770h

Sub-Index Comment 00h Number of mapped objects 01h Virtual output mapping

17

Default Value 1 6011 00 30h

DSP 417-3 1.0.1 5.3.4 5.3.4.1

CANopen Application Profile for Lift Control Systems

CiA

Car door controller Transmit PDO lift number 1 car door control

This TPDO shall be transmitted whenever the car door controller receives the request to move the door (open or close). Transmit PDO communication parameter Index 1908h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 200h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B08h

5.3.4.2

Sub-Index 00h 01h 02h 03h 04h

Comment Number of mapped objects Door 1 controlword Door 2 controlword Door 3 controlword Door 4 controlword

Default Value 4 6300 01 10h 6300 02 10h 6300 03 10h 6300 04 10h

Transmit PDO lift number 2 car door control

This TPDO shall be transmitted whenever the car door controller receives the request to move the door (open or close). Transmit PDO communication parameter Index 1918h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 210h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B18h

Sub-Index 00h 01h 02h 03h 04h

Comment Number of mapped objects Door 1 controlword Door 2 controlword Door 3 controlword Door 4 controlword

18

Default Value 4 6B00 01 10h 6B00 02 10h 6B00 03 10h 6B00 04 10h

DSP 417-3 1.0.1 5.3.4.3

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO lift number 3 car door control

This TPDO shall be transmitted whenever the car door controller receives the request to move the door (open or close). Transmit PDO communication parameter Index 1928h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 220h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B28h

5.3.4.4

Sub-Index 00h 01h 02h 03h 04h

Comment Number of mapped objects Door 1 controlword Door 2 controlword Door 3 controlword Door 4 controlword

Default Value 4 7300 01 10h 7300 02 10h 7300 03 10h 7300 04 10h

Transmit PDO lift number 4 car door control

This TPDO shall be transmitted whenever the car door controller receives the request to move the door (open or close). Transmit PDO communication parameter Index 1938h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 230h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B38h

5.3.4.5

Sub-Index 00h 01h 02h 03h 04h

Comment Number of mapped objects Door 1 controlword Door 2 controlword Door 3 controlword Door 4 controlword

Default Value 4 7B00 01 10h 7B00 02 10h 7B00 03 10h 7B00 04 10h

Transmit PDO lift number 5 car door control

This TPDO shall be transmitted whenever the car door controller receives the request to move the door (open or close). Transmit PDO communication parameter Index 1948h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer 19

Default Value No 240h 255d 0 See /CiA301/ 0

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO mapping parameter Index 1B48h

5.3.4.6

Sub-Index 00h 01h 02h 03h 04h

Comment Number of mapped objects Door 1 controlword Door 2 controlword Door 3 controlword Door 4 controlword

Default Value 4 8300 01 10h 8300 02 10h 8300 03 10h 8300 04 10h

Transmit PDO lift number 6 car door control

This TPDO shall be transmitted whenever the car door controller receives the request to move the door (open or close). Transmit PDO communication parameter Index 1958h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 250h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B58h

5.3.4.7

Sub-Index 00h 01h 02h 03h 04h

Comment Number of mapped objects Door 1 controlword Door 2 controlword Door 3 controlword Door 4 controlword

Default Value 4 8B00 01 10h 8B00 02 10h 8B00 03 10h 8B00 04 10h

Transmit PDO lift number 7 car door control

This TPDO shall be transmitted whenever the car door controller receives the request to move the door (open or close). Transmit PDO communication parameter Index 1968h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 260h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B68h

Sub-Index 00h 01h 02h 03h 04h

Comment Number of mapped objects Door 1 controlword Door 2 controlword Door 3 controlword Door 4 controlword

20

Default Value 4 9300 01 10h 9300 02 10h 9300 03 10h 9300 04 10h

DSP 417-3 1.0.1 5.3.4.8

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO lift number 8 car door control

This TPDO shall be transmitted whenever the car door controller receives the request to move the door (open or close). Transmit PDO communication parameter Index 1978h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 270h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B78h

5.3.4.9

Sub-Index 00h 01h 02h 03h 04h

Comment Number of mapped objects Door 1 controlword Door 2 controlword Door 3 controlword Door 4 controlword

Default Value 4 9B00 01 10h 9B00 02 10h 9B00 03 10h 9B00 04 10h

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. Receive PDO communication parameter Index 150Ah

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 201h 255d

Comment Number of mapped objects Door 1 statusword Door 1 position

Default Value 4 6301 01 10h 6302 01 10h

Receive PDO mapping parameter Index 170Ah

Sub-Index 00h 01h 02h

5.3.4.10 Receive PDO lift number 2 car door 1 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 151Ah

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

21

Default Value No 211h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 171Ah

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 1 statusword Door 1 position

Default Value 4 6B01 01 10h 6B02 01 10h

5.3.4.11 Receive PDO lift number 3 car door 1 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 152Ah

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 221h 255d

Comment Number of mapped objects Door 1 statusword Door 1 position

Default Value 4 7301 01 10h 7302 01 10h

Receive PDO mapping parameter Index 172Ah

Sub-Index 00h 01h 02h

5.3.4.12 Receive PDO lift number 4 car door 1 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 153Ah

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 231h 255d

Comment Number of mapped objects Door 1 statusword Door 1 position

Default Value 4 7B01 01 10h 7B02 01 10h

Receive PDO mapping parameter Index 173Ah

Sub-Index 00h 01h 02h

5.3.4.13 Receive PDO lift number 5 car door 1 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 154Ah

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

22

Default Value No 241h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 174Ah

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 1 statusword Door 1 position

Default Value 4 8301 01 10h 8302 01 10h

5.3.4.14 Receive PDO lift number 6 car door 1 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 155Ah

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 251h 255d

Comment Number of mapped objects Door 1 statusword Door 1 position

Default Value 4 8B01 01 10h 8B02 01 10h

Receive PDO mapping parameter Index 175Ah

Sub-Index 00h 01h 02h

5.3.4.15 Receive PDO lift number 7 car door 1 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 156Ah

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 261h 255d

Comment Number of mapped objects Door 1 statusword Door 1 position

Default Value 4 9301 01 10h 9302 01 10h

Receive PDO mapping parameter Index 176Ah

Sub-Index 00h 01h 02h

5.3.4.16 Receive PDO lift number 8 car door 1 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 157Ah

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

23

Default Value No 201h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 177Ah

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 1 statusword Door 1 position

Default Value 4 9B01 01 10h 9B02 01 10h

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. Receive PDO communication parameter Index 150Bh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 205h 255d

Receive PDO mapping parameter Index 170Bh

Sub-Index Comment 00h Number of mapped objects 01h Door 1 light barrier status

Default Value 4 6310 01 08h

5.3.4.18 Receive PDO lift number 2 car door 1 light barrier This RPDO contains information of the current state of the light barrier unit of the according car door. Receive PDO communication parameter Index 151Bh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 215h 255d

Receive PDO mapping parameter Index 171Bh

Sub-Index Comment 00h Number of mapped objects 01h Door 1 light barrier status

Default Value 4 6B10 01 08h

5.3.4.19 Receive PDO lift number 3 car door 1 light barrier This RPDO contains information of the current state of the light barrier unit of the according car door. Receive PDO communication parameter Index 152Bh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 225h 255d

Receive PDO mapping parameter Index 172Bh

Sub-Index Comment 00h Number of mapped objects 01h Door 1 light barrier status

Default Value 4 7310 01 08h

5.3.4.20 Receive PDO lift number 4 car door 1 light barrier This RPDO contains information of the current state of the light barrier unit of the according car door. Receive PDO communication parameter Index 153Bh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type 24

Default Value No 235h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 173Bh

Sub-Index Comment 00h Number of mapped objects 01h Door 1 light barrier status

Default Value 4 7B10 01 08h

5.3.4.21 Receive PDO lift number 5 car door 1 light barrier This RPDO contains information of the current state of the light barrier unit of the according car door. Receive PDO communication parameter Index 154Bh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 245h 255d

Receive PDO mapping parameter Index 174Bh

Sub-Index Comment 00h Number of mapped objects 01h Door 1 light barrier status

Default Value 4 8310 01 08h

5.3.4.22 Receive PDO lift number 6 car door 1 light barrier This RPDO contains information of the current state of the light barrier unit of the according car door. Receive PDO communication parameter Index 155Bh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 255h 255d

Receive PDO mapping parameter Index 175Bh

Sub-Index Comment 00h Number of mapped objects 01h Door 1 light barrier status

Default Value 4 8B10 01 08h

5.3.4.23 Receive PDO lift number 7 car door 1 light barrier This RPDO contains information of the current state of the light barrier unit of the according car door. Receive PDO communication parameter Index 156Bh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 265h 255d

Receive PDO mapping parameter Index 176Bh

Sub-Index Comment 00h Number of mapped objects 01h Door 1 light barrier status

Default Value 4 9310 01 08h

5.3.4.24 Receive PDO lift number 8 car door 1 light barrier This RPDO contains information of the current state of the light barrier unit of the according car door. Receive PDO communication parameter Index 157Bh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type 25

Default Value No 275h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 177Bh

Sub-Index Comment 00h Number of mapped objects 01h Door 1 light barrier status

Default Value 4 9B10 01 08h

5.3.4.25 Receive PDO lift number 1 car door 2 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 150Ch

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 202h 255d

Comment Number of mapped objects Door 2 statusword Door 2 position

Default Value 4 6301 02 10h 6302 02 10h

Receive PDO mapping parameter Index 170Ch

Sub-Index 00h 01h 02h

5.3.4.26 Receive PDO lift number 2 car door 2 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 151Ch

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 212h 255d

Comment Number of mapped objects Door 2 statusword Door 2 position

Default Value 4 6B01 02 10h 6B02 02 10h

Receive PDO mapping parameter Index 171Ch

Sub-Index 00h 01h 02h

5.3.4.27 Receive PDO lift number 3 car door 2 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 152Ch

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

26

Default Value No 222h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 172Ch

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 2 statusword Door 2 position

Default Value 4 7301 02 10h 7302 02 10h

5.3.4.28 Receive PDO lift number 4 car door 2 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 153Ah

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 231h 255d

Comment Number of mapped objects Door 1 statusword Door 1 position

Default Value 4 7B01 01 10h 7B02 01 10h

Receive PDO mapping parameter Index 173Ah

Sub-Index 00h 01h 02h

5.3.4.29 Receive PDO lift number 5 car door 2 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 154Ch

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 242h 255d

Comment Number of mapped objects Door 2 statusword Door 2 position

Default Value 4 8301 02 10h 8302 02 10h

Receive PDO mapping parameter Index 174Ch

Sub-Index 00h 01h 02h

5.3.4.30 Receive PDO lift number 6 car door 2 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 155Ch

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

27

Default Value No 252h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 175Ch

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 2 statusword Door 2 position

Default Value 4 8B01 02 10h 8B02 02 10h

5.3.4.31 Receive PDO lift number 7 car door 2 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 156Ch

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 262h 255d

Comment Number of mapped objects Door 2 statusword Door 2 position

Default Value 4 9301 02 10h 9302 02 10h

Receive PDO mapping parameter Index 176Ch

Sub-Index 00h 01h 02h

5.3.4.32 Receive PDO lift number 8 car door 2 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 157Ch

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 202h 255d

Comment Number of mapped objects Door 2 statusword Door 2 position

Default Value 4 9B01 01 10h 9B02 01 10h

Receive PDO mapping parameter Index 177Ch

Sub-Index 00h 01h 02h

5.3.4.33 Receive PDO lift number 1 car door 2 light barrier This RPDO contains information of the current state of the light barrier unit of the according car door. Receive PDO communication parameter Index 150Dh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

28

Default Value No 206h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 170Dh

Sub-Index Comment 00h Number of mapped objects 01h Door 2 light barrier status

Default Value 4 6310 02 08h

5.3.4.34 Receive PDO lift number 2 car door 2 light barrier This RPDO contains information of the current state of the light barrier unit of the according car door. Receive PDO communication parameter Index 151Dh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 216h 255d

Receive PDO mapping parameter Index 171Dh

Sub-Index Comment 00h Number of mapped objects 01h Door 2 light barrier status

Default Value 4 6B10 021 08h

5.3.4.35 Receive PDO lift number 3 car door 2 light barrier This RPDO contains information of the current state of the light barrier unit of the according car door. Receive PDO communication parameter Index 152Dh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 226h 255d

Receive PDO mapping parameter Index 172Dh

Sub-Index Comment 00h Number of mapped objects 01h Door 2 light barrier status

Default Value 4 7310 02 08h

5.3.4.36 Receive PDO lift number 4 car door 2 light barrier This RPDO contains information of the current state of the light barrier unit of the according car door. Receive PDO communication parameter Index 153Dh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 236h 255d

Receive PDO mapping parameter Index 173Dh

Sub-Index Comment 00h Number of mapped objects 01h Door 2 light barrier status

Default Value 4 7B10 02 08h

5.3.4.37 Receive PDO lift number 5 car door 2 light barrier This RPDO contains information of the current state of the light barrier unit of the according car door. Receive PDO communication parameter Index 154Dh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type 29

Default Value No 246h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 174Dh

Sub-Index Comment 00h Number of mapped objects 01h Door 2 light barrier status

Default Value 4 8310 02 08h

5.3.4.38 Receive PDO lift number 6 car door 2 light barrier This RPDO contains information of the current state of the light barrier unit of the according car door. Receive PDO communication parameter Index 155Dh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 256h 255d

Receive PDO mapping parameter Index 175Dh

Sub-Index Comment 00h Number of mapped objects 01h Door 2 light barrier status

Default Value 4 8B10 02 08h

5.3.4.39 Receive PDO lift number 7 car door 2 light barrier This RPDO contains information of the current state of the light barrier unit of the according car door. Receive PDO communication parameter Index 156Dh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 266h 255d

Receive PDO mapping parameter Index 176Dh

Sub-Index Comment 00h Number of mapped objects 01h Door 2 light barrier status

Default Value 4 9310 02 08h

5.3.4.40 Receive PDO lift number 8 car door 2 light barrier This RPDO contains information of the current state of the light barrier unit of the according car door. Receive PDO communication parameter Index 157Dh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 276h 255d

Receive PDO mapping parameter Index 177Dh

Sub-Index Comment 00h Number of mapped objects 01h Door 2 light barrier status

Default Value 4 9B10 02 08h

5.3.4.41 Receive PDO lift number 1 car door 3 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 150Eh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type 30

Default Value No 203h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 170Eh

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 3 statusword Door 3 position

Default Value 4 6301 03 10h 6302 03 10h

5.3.4.42 Receive PDO lift number 2 car door 3 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 151Eh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 213h 255d

Comment Number of mapped objects Door 3 statusword Door 3 position

Default Value 4 6B01 03 10h 6B02 03 10h

Receive PDO mapping parameter Index 171Eh

Sub-Index 00h 01h 02h

5.3.4.43 Receive PDO lift number 3 car door 3 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 152Eh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 223h 255d

Comment Number of mapped objects Door 3 statusword Door 3 position

Default Value 4 7301 03 10h 7302 03 10h

Receive PDO mapping parameter Index 172Eh

Sub-Index 00h 01h 02h

5.3.4.44 Receive PDO lift number 4 car door 3 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 153Eh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

31

Default Value No 233h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 173Eh

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 3 statusword Door 3 position

Default Value 4 7B01 03 10h 7B02 03 10h

5.3.4.45 Receive PDO lift number 5 car door 3 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 154Eh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 243h 255d

Comment Number of mapped objects Door 3 statusword Door 3 position

Default Value 4 8301 03 10h 8302 03 10h

Receive PDO mapping parameter Index 174Eh

Sub-Index 00h 01h 02h

5.3.4.46 Receive PDO lift number 6 car door 3 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 155Eh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 253h 255d

Comment Number of mapped objects Door 3 statusword Door 3 position

Default Value 4 8B01 03 10h 8B02 03 10h

Receive PDO mapping parameter Index 175Eh

Sub-Index 00h 01h 02h

5.3.4.47 Receive PDO lift number 7 car door 3 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 156Eh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

32

Default Value No 263h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 176Eh

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 3 statusword Door 3 position

Default Value 4 9301 03 10h 9302 03 10h

5.3.4.48 Receive PDO lift number 8 car door 3 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 157Eh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 203h 255d

Comment Number of mapped objects Door 3 statusword Door 3 position

Default Value 4 9B01 03 10h 9B02 03 10h

Receive PDO mapping parameter Index 177Eh

Sub-Index 00h 01h 02h

5.3.4.49 Receive PDO lift number 1 car door 3 light barrier This RPDO contains information of the current state of the light barrier unit of the according car door. Receive PDO communication parameter Index 150Fh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 207h 255d

Receive PDO mapping parameter Index 170Fh

Sub-Index Comment 00h Number of mapped objects 01h Door 3 light barrier status

Default Value 4 6310 03 08h

5.3.4.50 Receive PDO lift number 2 car door 3 light barrier This RPDO contains information of the current state of the light barrier unit of the according car door. Receive PDO communication parameter Index 151Fh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

33

Default Value No 215h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 171Fh

Sub-Index Comment 00h Number of mapped objects 01h Door 3 light barrier status

Default Value 4 6B10 03 08h

5.3.4.51 Receive PDO lift number 3 car door 3 light barrier This RPDO contains information of the current state of the light barrier unit of the according car door. Receive PDO communication parameter Index 152Fh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 227h 255d

Receive PDO mapping parameter Index 172Fh

Sub-Index Comment 00h Number of mapped objects 01h Door 3 light barrier status

Default Value 4 7310 03 08h

5.3.4.52 Receive PDO lift number 4 car door 3 light barrier This RPDO contains information of the current state of the light barrier unit of the according car door. Receive PDO communication parameter Index 153Fh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 237h 255d

Receive PDO mapping parameter Index 173Fh

Sub-Index Comment 00h Number of mapped objects 01h Door 3 light barrier status

Default Value 4 7B10 03 08h

5.3.4.53 Receive PDO lift number 5 car door 3 light barrier This RPDO contains information of the current state of the light barrier unit of the according car door. Receive PDO communication parameter Index 154Fh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 247h 255d

Receive PDO mapping parameter Index 174Fh

Sub-Index Comment 00h Number of mapped objects 01h Door 3 light barrier status

Default Value 4 8310 03 08h

5.3.4.54 Receive PDO lift number 6 car door 3 light barrier This RPDO contains information of the current state of the light barrier unit of the according car door. Receive PDO communication parameter Index 155Fh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type 34

Default Value No 257h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 175Fh

Sub-Index Comment 00h Number of mapped objects 01h Door 3 light barrier status

Default Value 4 8B10 03 08h

5.3.4.55 Receive PDO lift number 7 car door 3 light barrier This RPDO contains information of the current state of the light barrier unit of the according car door. Receive PDO communication parameter Index 156Fh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 267h 255d

Receive PDO mapping parameter Index 176Fh

Sub-Index Comment 00h Number of mapped objects 01h Door 3 light barrier status

Default Value 4 9310 03 08h

5.3.4.56 Receive PDO lift number 8 car door 3 light barrier This RPDO contains information of the current state of the light barrier unit of the according car door. Receive PDO communication parameter Index 157Fh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 277h 255d

Receive PDO mapping parameter Index 177Fh

5.3.5 5.3.5.1

Sub-Index Comment 00h Number of mapped objects 01h Door 3 light barrier status

Default Value 4 9B10 03 08h

Car door unit 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 the according car door changes. Transmit PDO communication parameter Index 190Ah

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

35

Default Value No 201h 255d 0 See /CiA301/ 0

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO mapping parameter Index 1B0Ah

5.3.5.2

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 1 statusword Door 1 position

Default Value 4 6301 01 10h 6302 01 10h

Transmit PDO lift number 2 car door 1 status and position

This TPDO shall be transmitted whenever the status of the car door unit or the position of the according car door changes. Transmit PDO communication parameter Index 191Ah

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 211h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B1Ah

5.3.5.3

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 1 statusword Door 1 position

Default Value 4 6B01 01 10h 6B02 01 10h

Transmit PDO lift number 3 car door 1 status and position

This TPDO shall be transmitted whenever the status of the car door unit or the position of the according car door changes. Transmit PDO communication parameter Index 192Ah

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

36

Default Value No 221h 255d 0 See /CiA301/ 0

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO mapping parameter Index 1B2Ah

5.3.5.4

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 1 statusword Door 1 position

Default Value 4 7301 01 10h 7302 01 10h

Transmit PDO lift number 4 car door 1 status and position

This TPDO shall be transmitted whenever the status of the car door unit or the position of the according car door changes. Transmit PDO communication parameter Index 193Ah

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 231h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B3Ah

5.3.5.5

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 1 statusword Door 1 position

Default Value 4 7B01 01 10h 7B02 01 10h

Transmit PDO lift number 5 car door 1 status and position

This TPDO shall be transmitted whenever the status of the car door unit or the position of the according car door changes. Transmit PDO communication parameter Index 194Ah

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

37

Default Value No 241h 255d 0 See /CiA301/ 0

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO mapping parameter Index 1B4Ah

5.3.5.6

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 1 statusword Door 1 position

Default Value 4 8301 01 10h 8302 01 10h

Transmit PDO lift number 6 car door 1 status and position

This TPDO shall be transmitted whenever the status of the car door unit or the position of the according car door changes. Transmit PDO communication parameter Index 195Ah

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 251h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B5Ah

5.3.5.7

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 1 statusword Door 1 position

Default Value 4 8B01 01 10h 8B02 01 10h

Transmit PDO lift number 7 car door 1 status and position

This TPDO shall be transmitted whenever the status of the car door unit or the position of the according car door changes. Transmit PDO communication parameter Index 196Ah

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

38

Default Value No 261h 255d 0 See /CiA301/ 0

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO mapping parameter Index 1B6Ah

5.3.5.8

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 1 statusword Door 1 position

Default Value 4 9301 01 10h 9302 01 10h

Transmit PDO lift number 8 car door 1 status and position

This TPDO shall be transmitted whenever the status of the car door unit or the position of the according car door changes. Transmit PDO communication parameter Index 197Ah

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 271h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B7Ah

5.3.5.9

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 1 statusword Door 1 position

Default Value 4 9B01 01 10h 9B02 01 10h

Transmit PDO lift number 1 car door 2 status and position

This TPDO shall be transmitted whenever the status of the car door unit or the position of the according car door changes. Transmit PDO communication parameter Index 190Ch

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

39

Default Value No 202h 255d 0 See /CiA301/ 0

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO mapping parameter Index 1B0Ch

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 2 statusword Door 2 position

Default Value 4 6301 02 10h 6302 02 10h

5.3.5.10 Transmit PDO lift number 2 car door 2 status and position This TPDO shall be transmitted whenever the status of the car door unit or the position of the according car door changes. Transmit PDO communication parameter Index 191Ch

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 212h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B1Ch

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 2 statusword Door 2 position

Default Value 4 6B01 02 10h 6B02 02 10h

5.3.5.11 Transmit PDO lift number 3 car door 2 status and position This TPDO shall be transmitted whenever the status of the car door unit or the position of the according car door changes. Transmit PDO communication parameter Index 192Ch

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

40

Default Value No 222h 255d 0 See /CiA301/ 0

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO mapping parameter Index 1B2Ch

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 2 statusword Door 2 position

Default Value 4 7301 02 10h 7302 02 10h

5.3.5.12 Transmit PDO lift number 4 car door 2 status and position This TPDO shall be transmitted whenever the status of the car door unit or the position of the according car door changes. Transmit PDO communication parameter Index 193Ch

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 232h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B3Ch

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 2 statusword Door 2 position

Default Value 4 7B01 02 10h 7B02 02 10h

5.3.5.13 Transmit PDO lift number 5 car door 2 status and position This TPDO shall be transmitted whenever the status of the car door unit or the position of the according car door changes. Transmit PDO communication parameter Index 194Ch

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

41

Default Value No 242h 255d 0 See /CiA301/ 0

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO mapping parameter Index 1B4Ch

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 2 statusword Door 2 position

Default Value 4 8301 02 10h 8302 02 10h

5.3.5.14 Transmit PDO lift number 6 car door 2 status and position This TPDO shall be transmitted whenever the status of the car door unit or the position of the according car door changes. Transmit PDO communication parameter Index 195Ch

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 252h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B5Ch

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 2 statusword Door 2 position

Default Value 4 8B01 02 10h 8B02 02 10h

5.3.5.15 Transmit PDO lift number 7 car door 2 status and position This TPDO shall be transmitted whenever the status of the car door unit or the position of the according car door changes. Transmit PDO communication parameter Index 196Ch

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

42

Default Value No 262h 255d 0 See /CiA301/ 0

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO mapping parameter Index 1B6Ch

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 2 statusword Door 2 position

Default Value 4 9301 02 10h 9302 02 10h

5.3.5.16 Transmit PDO lift number 8 car door 2 status and position This TPDO shall be transmitted whenever the status of the car door unit or the position of the according car door changes. Transmit PDO communication parameter Index 197Ch

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 272h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B7Ch

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 2 statusword Door 2 position

Default Value 4 9B01 02 10h 9B02 02 10h

5.3.5.17 Transmit PDO lift number 1 car door 3 status and position This TPDO shall be transmitted whenever the status of the car door unit or the position of the according car door changes. Transmit PDO communication parameter Index 190Eh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

43

Default Value No 203h 255d 0 See /CiA301/ 0

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO mapping parameter Index 1B0Eh

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 3 statusword Door 3 position

Default Value 4 6301 03 10h 6302 03 10h

5.3.5.18 Transmit PDO lift number 2 car door 3 status and position This TPDO shall be transmitted whenever the status of the car door unit or the position of the according car door changes. Transmit PDO communication parameter Index 191Eh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 213h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B1Eh

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 3 statusword Door 3 position

Default Value 4 6B01 03 10h 6B02 03 10h

5.3.5.19 Transmit PDO lift number 3 car door 3 status and position This TPDO shall be transmitted whenever the status of the car door unit or the position of the according car door changes. Transmit PDO communication parameter Index 192Eh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

44

Default Value No 223h 255d 0 See /CiA301/ 0

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO mapping parameter Index 1B2Eh

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 3 statusword Door 3 position

Default Value 4 7301 03 10h 7302 03 10h

5.3.5.20 Transmit PDO lift number 4 car door 3 status and position This TPDO shall be transmitted whenever the status of the car door unit or the position of the according car door changes. Transmit PDO communication parameter Index 193Eh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 233h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B3Eh

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 3 statusword Door 3 position

Default Value 4 7B01 03 10h 7B02 03 10h

5.3.5.21 Transmit PDO lift number 5 car door 3 status and position This TPDO shall be transmitted whenever the status of the car door unit or the position of the according car door changes. Transmit PDO communication parameter Index 194Eh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

45

Default Value No 243h 255d 0 See /CiA301/ 0

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO mapping parameter Index 1B4Eh

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 3 statusword Door 3 position

Default Value 4 8301 03 10h 8302 03 10h

5.3.5.22 Transmit PDO lift number 6 car door 3 status and position This TPDO shall be transmitted whenever the status of the car door unit or the position of the according car door changes. Transmit PDO communication parameter Index 195Eh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 253h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B5Eh

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 3 statusword Door 3 position

Default Value 4 8B01 03 10h 8B02 03 10h

5.3.5.23 Transmit PDO lift number 7 car door 3 status and position This TPDO shall be transmitted whenever the status of the car door unit or the position of the according car door changes. Transmit PDO communication parameter Index 196Eh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

46

Default Value No 263h 255d 0 See /CiA301/ 0

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO mapping parameter Index 1B6Eh

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 3 statusword Door 3 position

Default Value 4 9301 03 10h 9302 03 10h

5.3.5.24 Transmit PDO lift number 8 car door 3 status and position This TPDO shall be transmitted whenever the status of the car door unit or the position of the according car door changes. Transmit PDO communication parameter Index 197Eh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 273h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B7Eh

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 3 statusword Door 3 position

Default Value 4 9B01 03 10h 9B02 03 10h

5.3.5.25 Receive PDO lift number 1 car door control This RPDO contains control data for the car door unit. Receive PDO communication parameter Index 1508h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 200h 255d

Comment Number of mapped objects Door 1 controlword Door 2 controlword Door 3 controlword Door 4 controlword

Default Value 4 6300 01 10h 6300 02 10h 6300 03 10h 6300 04 10h

Receive PDO mapping parameter Index 1708h

Sub-Index 00h 01h 02h 03h 04h

5.3.5.26 Receive PDO lift number 2 car door control This RPDO contains control data for the car door unit. Receive PDO communication parameter Index 1518h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

47

Default Value No 210h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

Receive PDO mapping parameter Index 1718h

Sub-Index 00h 01h 02h 03h 04h

Comment Number of mapped objects Door 1 controlword Door 2 controlword Door 3 controlword Door 4 controlword

Default Value 4 6B00 01 10h 6B00 02 10h 6B00 03 10h 6B00 04 10h

5.3.5.27 Receive PDO lift number 3 car door control This RPDO contains control data for the car door unit. Receive PDO communication parameter Index 1528h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 220h 255d

Comment Number of mapped objects Door 1 controlword Door 2 controlword Door 3 controlword Door 4 controlword

Default Value 4 7300 01 10h 7300 02 10h 7300 03 10h 7300 04 10h

Receive PDO mapping parameter Index 1728h

Sub-Index 00h 01h 02h 03h 04h

5.3.5.28 Receive PDO lift number 4 car door control This RPDO contains control data for the car door unit. Receive PDO communication parameter Index 1538h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 230h 255d

Comment Number of mapped objects Door 1 controlword Door 2 controlword Door 3 controlword Door 4 controlword

Default Value 4 7B00 01 10h 7B00 02 10h 7B00 03 10h 7B00 04 10h

Receive PDO mapping parameter Index 1738h

Sub-Index 00h 01h 02h 03h 04h

5.3.5.29 Receive PDO lift number 5 car door control This RPDO contains control data for the car door unit. Receive PDO communication parameter Index 1548h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

48

Default Value No 240h 255d

CiA

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

Receive PDO mapping parameter Index 1748h

Sub-Index 00h 01h 02h 03h 04h

Comment Number of mapped objects Door 1 controlword Door 2 controlword Door 3 controlword Door 4 controlword

Default Value 4 8300 01 10h 8300 02 10h 8300 03 10h 8300 04 10h

5.3.5.30 Receive PDO lift number 6 car door control This RPDO contains control data for the car door unit. Receive PDO communication parameter Index 1558h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 250h 255d

Comment Number of mapped objects Door 1 controlword Door 2 controlword Door 3 controlword Door 4 controlword

Default Value 4 8B00 01 10h 8B00 02 10h 8B00 03 10h 8B00 04 10h

Receive PDO mapping parameter Index 1758h

Sub-Index 00h 01h 02h 03h 04h

5.3.5.31 Receive PDO lift number 7 car door control This RPDO contains control data for the car door unit. Receive PDO communication parameter Index 1568h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 260h 255d

Comment Number of mapped objects Door 1 controlword Door 2 controlword Door 3 controlword Door 4 controlword

Default Value 4 9300 01 10h 9300 02 10h 9300 03 10h 9300 04 10h

Receive PDO mapping parameter Index 1768h

Sub-Index 00h 01h 02h 03h 04h

5.3.5.32 Receive PDO lift number 8 car door control This RPDO contains control data for the car door unit. Receive PDO communication parameter Index 1578h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

49

Default Value No 270h 255d

CiA

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 1778h

Sub-Index 00h 01h 02h 03h 04h

Comment Number of mapped objects Door 1 controlword Door 2 controlword Door 3 controlword Door 4 controlword

Default Value 4 9B00 01 10h 9B00 02 10h 9B00 03 10h 9B00 04 10h

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 appropriate car door unit. Receive PDO communication parameter Index 150Bh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 205h 255d

Receive PDO mapping parameter Index 170Bh

Sub-Index Comment 00h Number of mapped objects 01h Door 1 light barrier status

Default Value 4 6310 01 08h

5.3.5.34 Receive PDO lift number 2 light barrier 1 This RPDO contains status information of the laight barrier that protects the area of the appropriate car door unit. Receive PDO communication parameter Index 151Bh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 215h 255d

Receive PDO mapping parameter Index 171Bh

Sub-Index Comment 00h Number of mapped objects 01h Door 1 light barrier status

Default Value 4 6B10 01 08h

5.3.5.35 Receive PDO lift number 3 light barrier 1 This RPDO contains status information of the laight barrier that protects the area of the appropriate car door unit. Receive PDO communication parameter Index 152Bh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

50

Default Value No 225h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 172Bh

Sub-Index Comment 00h Number of mapped objects 01h Door 1 light barrier status

Default Value 4 7310 01 08h

5.3.5.36 Receive PDO lift number 4 light barrier 1 This RPDO contains status information of the laight barrier that protects the area of the appropriate car door unit. Receive PDO communication parameter Index 153Bh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 235h 255d

Receive PDO mapping parameter Index 173Bh

Sub-Index Comment 00h Number of mapped objects 01h Door 1 light barrier status

Default Value 4 7B10 01 08h

5.3.5.37 Receive PDO lift number 5 light barrier 1 This RPDO contains status information of the laight barrier that protects the area of the appropriate car door unit. Receive PDO communication parameter Index 154Bh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 245h 255d

Receive PDO mapping parameter Index 174Bh

Sub-Index Comment 00h Number of mapped objects 01h Door 1 light barrier status

Default Value 4 8310 01 08h

5.3.5.38 Receive PDO lift number 6 light barrier 1 This RPDO contains status information of the laight barrier that protects the area of the appropriate car door unit. Receive PDO communication parameter Index 155Bh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

51

Default Value No 255h 255

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 175Bh

Sub-Index Comment 00h Number of mapped objects 01h Door 1 light barrier status

Default Value 4 8B10 01 08h

5.3.5.39 Receive PDO lift number 7 light barrier 1 This RPDO contains status information of the laight barrier that protects the area of the appropriate car door unit. Receive PDO communication parameter Index 156Bh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 265h 255d

Receive PDO mapping parameter Index 176Bh

Sub-Index Comment 00h Number of mapped objects 01h Door 1 light barrier status

Default Value 4 9310 01 08h

5.3.5.40 Receive PDO lift number 8 light barrier 1 This RPDO contains status information of the laight barrier that protects the area of the appropriate car door unit. Receive PDO communication parameter Index 157Bh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 275h 255d

Receive PDO mapping parameter Index 177Bh

Sub-Index Comment 00h Number of mapped objects 01h Door 1 light barrier status

Default Value 4 9B10 01 08h

5.3.5.41 Receive PDO lift number 1 light barrier 2 This RPDO contains status information of the laight barrier that protects the area of the appropriate car door unit. Receive PDO communication parameter Index 150Dh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

52

Default Value No 206h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 170Dh

Sub-Index Comment 00h Number of mapped objects 01h Door 2 light barrier status

Default Value 4 6310 02 08h

5.3.5.42 Receive PDO lift number 2 light barrier 2 This RPDO contains status information of the laight barrier that protects the area of the appropriate car door unit. Receive PDO communication parameter Index 151Dh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 216h 255d

Receive PDO mapping parameter Index 171Dh

Sub-Index Comment 00h Number of mapped objects 01h Door 2 light barrier status

Default Value 4 6B10 02 08h

5.3.5.43 Receive PDO lift number 3 light barrier 2 This RPDO contains status information of the laight barrier that protects the area of the appropriate car door unit. Receive PDO communication parameter Index 152Dh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 226h 255d

Receive PDO mapping parameter Index 172Dh

Sub-Index Comment 00h Number of mapped objects 01h Door 2 light barrier status

Default Value 4 7310 02 08h

5.3.5.44 Receive PDO lift number 4 light barrier 2 This RPDO contains status information of the laight barrier that protects the area of the appropriate car door unit. Receive PDO communication parameter Index 153Dh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

53

Default Value No 236h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 173Dh

Sub-Index Comment 00h Number of mapped objects 01h Door 2 light barrier status

Default Value 4 7B10 02 08h

5.3.5.45 Receive PDO lift number 5 light barrier 2 This RPDO contains status information of the laight barrier that protects the area of the appropriate car door unit. Receive PDO communication parameter Index 154Dh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 246h 255d

Receive PDO mapping parameter Index 174Dh

Sub-Index Comment 00h Number of mapped objects 01h Door 2 light barrier status

Default Value 4 8310 02 08h

5.3.5.46 Receive PDO lift number 6 light barrier 2 This RPDO contains status information of the laight barrier that protects the area of the appropriate car door unit. Receive PDO communication parameter Index 155Dh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 256h 255d

Receive PDO mapping parameter Index 175Dh

Sub-Index Comment 00h Number of mapped objects 01h Door 2 light barrier status

Default Value 4 8B10 02 08h

5.3.5.47 Receive PDO lift number 7 light barrier 2 This RPDO contains status information of the laight barrier that protects the area of the appropriate car door unit. Receive PDO communication parameter Index 156Dh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

54

Default Value No 266h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 176Dh

Sub-Index Comment 00h Number of mapped objects 01h Door 2 light barrier status

Default Value 4 9310 02 08h

5.3.5.48 Receive PDO lift number 8 light barrier 2 This RPDO contains status information of the laight barrier that protects the area of the appropriate car door unit. Receive PDO communication parameter Index 157Dh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 276h 255d

Receive PDO mapping parameter Index 177Dh

Sub-Index Comment 00h Number of mapped objects 01h Door 2 light barrier status

Default Value 4 9B10 02 08h

5.3.5.49 Receive PDO lift number 1 light barrier 3 This RPDO contains status information of the laight barrier that protects the area of the appropriate car door unit. Receive PDO communication parameter Index 150Fh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 207h 255d

Receive PDO mapping parameter Index 170Fh

Sub-Index Comment 00h Number of mapped objects 01h Door 3 light barrier status

Default Value 4 6310 03 08h

5.3.5.50 Receive PDO lift number 2 light barrier 3 This RPDO contains status information of the laight barrier that protects the area of the appropriate car door unit. Receive PDO communication parameter Index 151Fh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

55

Default Value No 217h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 171Fh

Sub-Index Comment 00h Number of mapped objects 01h Door 3 light barrier status

Default Value 4 6B10 03 08h

5.3.5.51 Receive PDO lift number 3 light barrier 3 This RPDO contains status information of the laight barrier that protects the area of the appropriate car door unit. Receive PDO communication parameter Index 152Fh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 227h 255d

Receive PDO mapping parameter Index 172Fh

Sub-Index Comment 00h Number of mapped objects 01h Door 3 light barrier status

Default Value 4 7310 03 08h

5.3.5.52 Receive PDO lift number 4 light barrier 3 This RPDO contains status information of the laight barrier that protects the area of the appropriate car door unit. Receive PDO communication parameter Index 153Fh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 237h 255d

Receive PDO mapping parameter Index 173Fh

Sub-Index Comment 00h Number of mapped objects 01h Door 3 light barrier status

Default Value 4 7B10 03 08h

5.3.5.53 Receive PDO lift number 5 light barrier 3 This RPDO contains status information of the laight barrier that protects the area of the appropriate car door unit. Receive PDO communication parameter Index 154Fh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

56

Default Value No 247h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 174Fh

Sub-Index Comment 00h Number of mapped objects 01h Door 3 light barrier status

Default Value 4 8310 03 08h

5.3.5.54 Receive PDO lift number 6 light barrier 3 This RPDO contains status information of the laight barrier that protects the area of the appropriate car door unit. Receive PDO communication parameter Index 155Fh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 257h 255d

Receive PDO mapping parameter Index 175Fh

Sub-Index Comment 00h Number of mapped objects 01h Door 3 light barrier status

Default Value 4 8B10 03 08h

5.3.5.55 Receive PDO lift number 7 light barrier 3 This RPDO contains status information of the laight barrier that protects the area of the appropriate car door unit. Receive PDO communication parameter Index 156Fh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 267h 255d

Receive PDO mapping parameter Index 176Fh

Sub-Index Comment 00h Number of mapped objects 01h Door 3 light barrier status

Default Value 4 9310 03 08h

5.3.5.56 Receive PDO lift number 8 light barrier 3 This RPDO contains status information of the laight barrier that protects the area of the appropriate car door unit. Receive PDO communication parameter Index 157Fh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

57

Default Value No 277h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 177Fh

5.3.6 5.3.6.1

Sub-Index Comment 00h Number of mapped objects 01h Door 3 light barrier status

Default Value 4 9B10 03 08h

Light barrier unit Transmit PDO lift number 1 light barrier 1

This TPDO shall be transmitted whenever the status of the light barrier protecting the area of the appropriate car door unit changes. Transmit PDO communication parameter Index 190Bh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 205h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B0Bh 5.3.6.2

Sub-Index Comment 00h Number of mapped objects 01h Door 1 light barrier status

Default Value 4 6310 01 08h

Transmit PDO lift number 2 light barrier 1

This TPDO shall be transmitted whenever the status of the light barrier protecting the area of the appropriate car door unit changes. Transmit PDO communication parameter Index 191Bh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 215h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B1Bh 5.3.6.3

Sub-Index Comment 00h Number of mapped objects 01h Door 1 light barrier status

Default Value 4 6B10 01 08h

Transmit PDO lift number 3 light barrier 1

This TPDO shall be transmitted whenever the status of the light barrier protecting the area of the appropriate car door unit changes. Transmit PDO communication parameter Index 192Bh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer 58

Default Value No 225h 255d 0 See /CiA301/ 0

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO mapping parameter Index 1B2Bh 5.3.6.4

Sub-Index Comment 00h Number of mapped objects 01h Door 1 light barrier status

Default Value 4 7310 01 08h

Transmit PDO lift number 4 light barrier 1

This TPDO shall be transmitted whenever the status of the light barrier protecting the area of the appropriate car door unit changes. Transmit PDO communication parameter Index 193Bh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 235h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B3Bh 5.3.6.5

Sub-Index Comment 00h Number of mapped objects 01h Door 1 light barrier status

Default Value 4 7B10 01 08h

Transmit PDO lift number 5 light barrier 1

This TPDO shall be transmitted whenever the status of the light barrier protecting the area of the appropriate car door unit changes. Transmit PDO communication parameter Index 194Bh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 245h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B4Bh 5.3.6.6

Sub-Index Comment 00h Number of mapped objects 01h Door 1 light barrier status

Default Value 4 8310 01 08h

Transmit PDO lift number 6 light barrier 1

This TPDO shall be transmitted whenever the status of the light barrier protecting the area of the appropriate car door unit changes. Transmit PDO communication parameter Index 195Bh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

59

Default Value No 255h 255d 0 See /CiA301/ 0

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO mapping parameter Index 1B5Bh 5.3.6.7

Sub-Index Comment 00h Number of mapped objects 01h Door 1 light barrier status

Default Value 4 8B10 01 08h

Transmit PDO lift number 7 light barrier 1

This TPDO shall be transmitted whenever the status of the light barrier protecting the area of the appropriate car door unit changes. Transmit PDO communication parameter Index 196Bh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 265h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B6Bh 5.3.6.8

Sub-Index Comment 00h Number of mapped objects 01h Door 1 light barrier status

Default Value 4 9310 01 08h

Transmit PDO lift number 8 light barrier 1

This TPDO shall be transmitted whenever the status of the light barrier protecting the area of the appropriate car door unit changes. Transmit PDO communication parameter Index 197Bh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 275h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B7Bh 5.3.6.9

Sub-Index Comment 00h Number of mapped objects 01h Door 1 light barrier status

Default Value 4 9B10 01 08h

Transmit PDO lift number 1 light barrier 2

This TPDO shall be transmitted whenever the status of the light barrier protecting the area of the appropriate car door unit changes. Transmit PDO communication parameter Index 190Dh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

60

Default Value No 206h 255d 0 See /CiA301/ 0

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO mapping parameter Index 1B0Dh

Sub-Index Comment 00h Number of mapped objects 01h Door 2 light barrier status

Default Value 4 6310 02 08h

5.3.6.10 Transmit PDO lift number 2 light barrier 2 This TPDO shall be transmitted whenever the status of the light barrier protecting the area of the appropriate car door unit changes. Transmit PDO communication parameter Index 191Dh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 216h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B1Dh

Sub-Index Comment 00h Number of mapped objects 01h Door 2 light barrier status

Default Value 4 6B10 02 08h

5.3.6.11 Transmit PDO lift number 3 light barrier 2 This TPDO shall be transmitted whenever the status of the light barrier protecting the area of the appropriate car door unit changes. Transmit PDO communication parameter Index 192Dh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 226h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B2Dh

Sub-Index Comment 00h Number of mapped objects 01h Door 2 light barrier status

Default Value 4 7310 02 08h

5.3.6.12 Transmit PDO lift number 4 light barrier 2 This TPDO shall be transmitted whenever the status of the light barrier protecting the area of the appropriate car door unit changes. Transmit PDO communication parameter Index 193Dh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

61

Default Value No 236h 255d 0 See /CiA301/ 0

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO mapping parameter Index 1B3Dh

Sub-Index Comment 00h Number of mapped objects 01h Door 2 light barrier status

Default Value 4 7B10 02 08h

5.3.6.13 Transmit PDO lift number 5 light barrier 2 This TPDO shall be transmitted whenever the status of the light barrier protecting the area of the appropriate car door unit changes. Transmit PDO communication parameter Index 194Dh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 246h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B4Dh

Sub-Index Comment 00h Number of mapped objects 01h Door 2 light barrier status

Default Value 4 8310 02 08h

5.3.6.14 Transmit PDO lift number 6 light barrier 2 This TPDO shall be transmitted whenever the status of the light barrier protecting the area of the appropriate car door unit changes. Transmit PDO communication parameter Index 195Dh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 256h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B5Dh

Sub-Index Comment 00h Number of mapped objects 01h Door 2 light barrier status

Default Value 4 8B10 02 08h

5.3.6.15 Transmit PDO lift number 7 light barrier 2 This TPDO shall be transmitted whenever the status of the light barrier protecting the area of the appropriate car door unit changes. Transmit PDO communication parameter Index 196Dh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

62

Default Value No 266h 255d 0 See /CiA301/ 0

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO mapping parameter Index 1B6Dh

Sub-Index Comment 00h Number of mapped objects 01h Door 2 light barrier status

Default Value 4 9310 02 08h

5.3.6.16 Transmit PDO lift number 8 light barrier 2 This TPDO shall be transmitted whenever the status of the light barrier protecting the area of the appropriate car door unit changes. Transmit PDO communication parameter Index 197Dh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 276h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B7Dh

Sub-Index Comment 00h Number of mapped objects 01h Door 2 light barrier status

Default Value 4 9B10 02 08h

5.3.6.17 Transmit PDO lift number 1 light barrier 3 This TPDO shall be transmitted whenever the status of the light barrier protecting the area of the appropriate car door unit changes. Transmit PDO communication parameter Index 190Fh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 207h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B0Fh

Sub-Index Comment 00h Number of mapped objects 01h Door 3 light barrier status

Default Value 4 6310 03 08h

5.3.6.18 Transmit PDO lift number 2 light barrier 3 This TPDO shall be transmitted whenever the status of the light barrier protecting the area of the appropriate car door unit changes. Transmit PDO communication parameter Index 191Fh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

63

Default Value No 217h 255d 0 See /CiA301/ 0

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO mapping parameter Index 1B1Fh

Sub-Index Comment 00h Number of mapped objects 01h Door 3 light barrier status

Default Value 4 6B10 03 08h

5.3.6.19 Transmit PDO lift number 3 light barrier 3 This TPDO shall be transmitted whenever the status of the light barrier protecting the area of the appropriate car door unit changes. Transmit PDO communication parameter Index 192Fh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 227h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B2Fh

Sub-Index Comment 00h Number of mapped objects 01h Door 3 light barrier status

Default Value 4 7310 03 08h

5.3.6.20 Transmit PDO lift number 4 light barrier 3 This TPDO shall be transmitted whenever the status of the light barrier protecting the area of the appropriate car door unit changes. Transmit PDO communication parameter Index 193Fh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 237h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B3Fh

Sub-Index Comment 00h Number of mapped objects 01h Door 3 light barrier status

Default Value 4 7B10 03 08h

5.3.6.21 Transmit PDO lift number 5 light barrier 3 This TPDO shall be transmitted whenever the status of the light barrier protecting the area of the appropriate car door unit changes. Transmit PDO communication parameter Index 194Fh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

64

Default Value No 247h 255d 0 See /CiA301/ 0

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO mapping parameter Index 1B4Fh

Sub-Index Comment 00h Number of mapped objects 01h Door 3 light barrier status

Default Value 4 8310 03 08h

5.3.6.22 Transmit PDO lift number 6 light barrier 3 This TPDO shall be transmitted whenever the status of the light barrier protecting the area of the appropriate car door unit changes. Transmit PDO communication parameter Index 195Fh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 257h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B5Fh

Sub-Index Comment 00h Number of mapped objects 01h Door 3 light barrier status

Default Value 4 8B10 03 08h

5.3.6.23 Transmit PDO lift number 7 light barrier 3 This TPDO shall be transmitted whenever the status of the light barrier protecting the area of the appropriate car door unit changes. Transmit PDO communication parameter Index 196Fh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 267h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B6Fh

Sub-Index Comment 00h Number of mapped objects 01h Door 3 light barrier status

Default Value 4 9310 03 08h

5.3.6.24 Transmit PDO lift number 8 light barrier 3 This TPDO shall be transmitted whenever the status of the light barrier protecting the area of the appropriate car door unit changes. Transmit PDO communication parameter Index 197Fh

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

65

Default Value No 277h 255d 0 See /CiA301/ 0

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO mapping parameter Index 1B7Fh

5.3.7 5.3.7.1

Sub-Index Comment 00h Number of mapped objects 01h Door 3 light barrier status

Default Value 4 9B10 03 08h

Position unit 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 event timer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0 and the transmission type is set to 255d, then the TPDO shall not be transmitted. Transmit PDO communication parameter Index 1906h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 18Ch 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B06h 5.3.7.2

Sub-Index 00h 01h

Comment Number of mapped objects Car position 1

Default Value 1 6383 01 20h

Transmit PDO lift number 2 car position 1

This TPDO shall be transmitted whenever the event timer of the car position unit 1 expires, if the event timer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0 and the transmission type is set to 255d, then the TPDO shall not be transmitted. Transmit PDO communication parameter Index 1916h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 19Ch 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B16h

Sub-Index Comment 00h Number of mapped objects 01h Car position 1

66

Default Value 1 6B83 01 20h

DSP 417-3 1.0.1 5.3.7.3

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO lift number 3 car position 1

This TPDO shall be transmitted whenever the event timer of the car position unit 1 expires, if the event timer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0 and the transmission type is set to 255d, then the TPDO shall not be transmitted. Transmit PDO communication parameter Index 1926h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1ACh 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B26h 5.3.7.4

Sub-Index Comment 00h Number of mapped objects 01h Car position 1

Default Value 1 7383 01 20h

Transmit PDO lift number 4 car position 1

This TPDO shall be transmitted whenever the event timer of the car position unit 1 expires, if the event timer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0 and the transmission type is set to 255d, then the TPDO shall not be transmitted. Transmit PDO communication parameter Index 1936h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1BCh 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B36h 5.3.7.5

Sub-Index Comment 00h Number of mapped objects 01h Car position 1

Default Value 1 7B83 01 20h

Transmit PDO lift number 5 car position 1

This TPDO shall be transmitted whenever the event timer of the car position unit 1 expires, if the event timer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0 and the transmission type is set to 255d, then the TPDO shall not be transmitted. Transmit PDO communication parameter Index 1946h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1CCh 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B46h

Sub-Index Comment 00h Number of mapped objects 01h Car position 1 67

Default Value 1 8383 01 20h

DSP 417-3 1.0.1 5.3.7.6

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO lift number 6 car position 1

This TPDO shall be transmitted whenever the event timer of the car position unit 1 expires, if the event timer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0 and the transmission type is set to 255d, then the TPDO shall not be transmitted. Transmit PDO communication parameter Index 1956h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1DCh 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B56h 5.3.7.7

Sub-Index Comment 00h Number of mapped objects 01h Car position 1

Default Value 1 8B83 01 20h

Transmit PDO lift number 7 car position 1

This TPDO shall be transmitted whenever the event timer of the car position unit 1 expires, if the event timer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0 and the transmission type is set to 255d, then the TPDO shall not be transmitted. Transmit PDO communication parameter Index 1966h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1ECh 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B66h 5.3.7.8

Sub-Index Comment 00h Number of mapped objects 01h Car position 1

Default Value 1 9383 01 20h

Transmit PDO lift number 8 car position 1

This TPDO shall be transmitted whenever the event timer of the car position unit 1 expires, if the event timer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0 and the transmission type is set to 255d, then the TPDO shall not be transmitted. Transmit PDO communication parameter Index 1976h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1FCh 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B76h

Sub-Index Comment 00h Number of mapped objects 01h Car position 1 68

Default Value 1 9B83 01 20h

DSP 417-3 1.0.1 5.3.7.9

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO lift number 1 car position 2

This TPDO shall be transmitted whenever the event timer of the car position unit 2 expires, if the event timer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0 and the transmission type is set to 255d, then the TPDO shall not be transmitted. Transmit PDO communication parameter Index 1907h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 18Dh 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B07h

Sub-Index Comment 00h Number of mapped objects 01h Car position 2

Default Value 1 6383 02 20h

5.3.7.10 Transmit PDO lift number 2 car position 2 This TPDO shall be transmitted whenever the event timer of the car position unit 2 expires, if the event timer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0 and the transmission type is set to 255d, then the TPDO shall not be transmitted. Transmit PDO communication parameter Index 1917h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 19Dh 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B17h

Sub-Index Comment 00h Number of mapped objects 01h Car position 2

Default Value 1 6B83 02 20h

5.3.7.11 Transmit PDO lift number 3 car position 2 This TPDO shall be transmitted whenever the event timer of the car position unit 2 expires, if the event timer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0 and the transmission type is set to 255d, then the TPDO shall not be transmitted. Transmit PDO communication parameter Index 1927h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1ADh 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B27h

Sub-Index Comment 00h Number of mapped objects 01h Car position 2 69

Default Value 1 7383 02 20h

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

5.3.7.12 Transmit PDO lift number 4 car position 2 This TPDO shall be transmitted whenever the event timer of the car position unit 2 expires, if the event timer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0 and the transmission type is set to 255d, then the TPDO shall not be transmitted. Transmit PDO communication parameter Index 1937h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1BDh 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B37h

Sub-Index Comment 00h Number of mapped objects 01h Car position 2

Default Value 1 7B83 02 20h

5.3.7.13 Transmit PDO lift number 5 car position 2 This TPDO shall be transmitted whenever the event timer of the car position unit 2 expires, if the event timer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0 and the transmission type is set to 255d, then the TPDO shall not be transmitted. Transmit PDO communication parameter Index 1947h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1CDh 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B47h

Sub-Index Comment 00h Number of mapped objects 01h Car position 2

Default Value 1 8383 02 20h

5.3.7.14 Transmit PDO lift number 6 car position 2 This TPDO shall be transmitted whenever the event timer of the car position unit 2 expires, if the event timer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0 and the transmission type is set to 255d, then the TPDO shall not be transmitted. Transmit PDO communication parameter Index 1957h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1DDh 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B57h

Sub-Index Comment 00h Number of mapped objects 01h Car position 2 70

Default Value 1 8B83 02 20h

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

5.3.7.15 Transmit PDO lift number 7 car position 2 This TPDO shall be transmitted whenever the event timer of the car position unit 2 expires, if the event timer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0 and the transmission type is set to 255d, then the TPDO shall not be transmitted. Transmit PDO communication parameter Index 1967h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1EDh 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B67h

Sub-Index Comment 00h Number of mapped objects 01h Car position 2

Default Value 1 9383 02 20h

5.3.7.16 Transmit PDO lift number 8 car position 2 This TPDO shall be transmitted whenever the event timer of the car position unit 2 expires, if the event timer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0 and the transmission type is set to 255d, then the TPDO shall not be transmitted. Transmit PDO communication parameter Index 1977h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1FDh 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B77h

5.3.8 5.3.8.1

Sub-Index Comment 00h Number of mapped objects 01h Car position 2

Default Value 1 9B83 02 20h

Car drive controller 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 the car, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is based on the profile position mode of the car drive unit. Transmit PDO communication parameter Index 1904h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

71

Default Value No 180h 255d 0 See /CiA301/ 0

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO mapping parameter Index 1B04h

5.3.8.2

Sub-Index 00h 01h 02h

Comment Number of mapped objects Controlword Target position

Default Value 2 6400 00 10h 6420 00 20h

Transmit PDO lift number 2 car drive control – profile postion mode

This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop the car, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is based on the profile position mode of the car drive unit. Transmit PDO communication parameter Index 1914h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 190h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B14h

5.3.8.3

Sub-Index 00h 01h 02h

Comment Number of mapped objects Controlword Target position

Default Value 2 6C00 00 10h 6C20 00 20h

Transmit PDO lift number 3 car drive control – profile postion mode

This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop the car, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is based on the profile position mode of the car drive unit. Transmit PDO communication parameter Index 1924h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1A0h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B24h

Sub-Index 00h 01h 02h

Comment Number of mapped objects Controlword Target position

72

Default Value 2 7400 00 10h 7420 00 20h

DSP 417-3 1.0.1 5.3.8.4

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO lift number 4 car drive control – profile postion mode

This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop the car, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is based on the profile position mode of the car drive unit. Transmit PDO communication parameter Index 1934h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1B0h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B34h

5.3.8.5

Sub-Index 00h 01h 02h

Comment Number of mapped objects Controlword Target position

Default Value 2 7C00 00 10h 7C20 00 20h

Transmit PDO lift number 5 car drive control – profile postion mode

This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop the car, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is based on the profile position mode of the car drive unit. Transmit PDO communication parameter Index 1944h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1C0h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B44h

5.3.8.6

Sub-Index 00h 01h 02h

Comment Number of mapped objects Controlword Target position

Default Value 2 8400 00 10h 8420 00 20h

Transmit PDO lift number 6 car drive control – profile postion mode

This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop the car, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is based on the profile position mode of the car drive unit. Transmit PDO communication parameter Index 1954h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

73

Default Value No 1D0h 255d 0 See /CiA301/ 0

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO mapping parameter Index 1B54h

5.3.8.7

Sub-Index 00h 01h 02h

Comment Number of mapped objects Controlword Target position

Default Value 2 8C00 00 10h 8C20 00 20h

Transmit PDO lift number 7 car drive control – profile postion mode

This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop the car, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is based on the profile position mode of the car drive unit. Transmit PDO communication parameter Index 1964h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1E0h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B64h

5.3.8.8

Sub-Index 00h 01h 02h

Comment Number of mapped objects Controlword Target position

Default Value 2 9400 00 10h 9420 00 20h

Transmit PDO lift number 8 car drive control – profile postion mode

This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop the car, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is based on the profile position mode of the car drive unit. Transmit PDO communication parameter Index 1974h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1F0h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B74h

Sub-Index 00h 01h 02h

Comment Number of mapped objects Controlword Target position

74

Default Value 2 9C00 00 10h 9C20 00 20h

DSP 417-3 1.0.1 5.3.8.9

CANopen Application Profile for Lift Control Systems

CiA

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 the car, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is based on the profile velocity mode of the car drive unit. Transmit PDO communication parameter Index 1906h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 184h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B06h

Sub-Index 00h 01h 02h

Comment Number of mapped objects Controlword Target velocity

Default Value 2 6400 00 10h 6430 00 20h

5.3.8.10 Transmit PDO lift number 2 car drive control – profile velocity mode This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop the car, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is based on the profile velocity mode of the car drive unit. Transmit PDO communication parameter Index 1916h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 194h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B16h

Sub-Index 00h 01h 02h

Comment Number of mapped objects Controlword Target velocity

Default Value 2 6C00 00 10h 6C30 00 20h

5.3.8.11 Transmit PDO lift number 3 car drive control – profile velocity mode This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop the car, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is based on the profile velocity mode of the car drive unit. Transmit PDO communication parameter Index 1926h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

75

Default Value No 1A4h 255d 0 See /CiA301/ 0

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO mapping parameter Index 1B26h

Sub-Index 00h 01h 02h

Comment Number of mapped objects Controlword Target velocity

Default Value 2 7400 00 10h 7430 00 20h

5.3.8.12 Transmit PDO lift number 4 car drive control – profile velocity mode This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop the car, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is based on the profile velocity mode of the car drive unit. Transmit PDO communication parameter Index 1936h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1B4h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B36h

Sub-Index 00h 01h 02h

Comment Number of mapped objects Controlword Target velocity

Default Value 2 7C00 00 10h 7C30 00 20h

5.3.8.13 Transmit PDO lift number 5 car drive control – profile velocity mode This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop the car, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is based on the profile velocity mode of the car drive unit. Transmit PDO communication parameter Index 1946h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1C4h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B46h

Sub-Index 00h 01h 02h

Comment Number of mapped objects Controlword Target velocity

76

Default Value 2 8400 00 10h 8430 00 20h

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

5.3.8.14 Transmit PDO lift number 6 car drive control – profile velocity mode This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop the car, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is based on the profile velocity mode of the car drive unit. Transmit PDO communication parameter Index 1956h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1D4h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B56h

Sub-Index 00h 01h 02h

Comment Number of mapped objects Controlword Target velocity

Default Value 2 8C00 00 10h 8C30 00 20h

5.3.8.15 Transmit PDO lift number 7 car drive control – profile velocity mode This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop the car, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is based on the profile velocity mode of the car drive unit. Transmit PDO communication parameter Index 1966h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1E4h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B66h

Sub-Index 00h 01h 02h

Comment Number of mapped objects Controlword Target velocity

Default Value 2 9400 00 10h 9430 00 20h

5.3.8.16 Transmit PDO lift number 8 car drive control – profile velocity mode This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop the car, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is based on the profile velocity mode of the car drive unit. Transmit PDO communication parameter Index 1976h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

77

Default Value No 1F4h 255d 0 See /CiA301/ 0

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO mapping parameter Index 1B76h

Sub-Index 00h 01h 02h

Comment Number of mapped objects Controlword Target velocity

Default Value 2 9C00 00 10h 9C30 00 20h

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 supported if the car position is based on the profile position mode of the car drive unit. Receive PDO communication parameter Index 1505h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 181h 255d

Comment Number of mapped objects Statusword Control effort

Default Value 2 6401 00 10h 6406 00 20h

Receive PDO mapping parameter Index 1705h

Sub-Index 00h 01h 02h

5.3.8.18 Receive PDO lift number 2 car drive status – profile position mode This RPDO contains the current status information of the car drive unit. This RPDO shall be supported if the car position is based on the profile position mode of the car drive unit. Receive PDO communication parameter Index 1515h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 191h 255d

Comment Number of mapped objects Statusword Control effort

Default Value 2 6C01 00 10h 6C06 00 20h

Receive PDO mapping parameter Index 1715h

Sub-Index 00h 01h 02h

5.3.8.19 Receive PDO lift number 3 car drive status – profile position mode This RPDO contains the current status information of the car drive unit. This RPDO shall be supported if the car position is based on the profile position mode of the car drive unit. Receive PDO communication parameter Index 1525h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1A1h 255d

Comment Number of mapped objects Statusword Control effort

Default Value 2 7401 00 10h 7406 00 20h

Receive PDO mapping parameter Index 1725h

Sub-Index 00h 01h 02h

78

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

5.3.8.20 Receive PDO lift number 4 car drive status – profile position mode This RPDO contains the current status information of the car drive unit. This RPDO shall be supported if the car position is based on the profile position mode of the car drive unit. Receive PDO communication parameter Index 1535h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1B1h 255d

Comment Number of mapped objects Statusword Control effort

Default Value 2 7C01 00 10h 7C06 00 20h

Receive PDO mapping parameter Index 1735h

Sub-Index 00h 01h 02h

5.3.8.21 Receive PDO lift number 5 car drive status – profile position mode This RPDO contains the current status information of the car drive unit. This RPDO shall be supported if the car position is based on the profile position mode of the car drive unit. Receive PDO communication parameter Index 1545h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1C1h 255d

Comment Number of mapped objects Statusword Control effort

Default Value 2 8401 00 10h 8406 00 20h

Receive PDO mapping parameter Index 1745h

Sub-Index 00h 01h 02h

5.3.8.22 Receive PDO lift number 6 car drive status – profile position mode This RPDO contains the current status information of the car drive unit. This RPDO shall be supported if the car position is based on the profile position mode of the car drive unit. Receive PDO communication parameter Index 1555h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1D1h 255d

Comment Number of mapped objects Statusword Control effort

Default Value 2 8C01 00 10h 8C06 00 20h

Receive PDO mapping parameter Index 1755h

Sub-Index 00h 01h 02h

79

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

5.3.8.23 Receive PDO lift number 7 car drive status – profile position mode This RPDO contains the current status information of the car drive unit. This RPDO shall be supported if the car position is based on the profile position mode of the car drive unit. Receive PDO communication parameter Index 1565h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1E1h 255d

Comment Number of mapped objects Statusword Control effort

Default Value 2 9401 00 10h 9406 00 20h

Receive PDO mapping parameter Index 1765h

Sub-Index 00h 01h 02h

5.3.8.24 Receive PDO lift number 8 car drive status – profile position mode This RPDO contains the current status information of the car drive unit. This RPDO shall be supported if the car position is based on the profile position mode of the car drive unit. Receive PDO communication parameter Index 1575h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1F1h 255d

Comment Number of mapped objects Statusword Control effort

Default Value 2 9C01 00 10h 9C06 00 20h

Receive PDO mapping parameter Index 1775h

Sub-Index 00h 01h 02h

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 supported if the car position is based on the profile velocity mode of the car drive unit. Receive PDO communication parameter Index 1507h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 185h 255d

Comment Number of mapped objects Statusword Velocity actual value

Default Value 2 6401 00 10h 6433 00 20h

Receive PDO mapping parameter Index 1707h

Sub-Index 00h 01h 02h

80

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

5.3.8.26 Receive PDO lift number 2 car drive status – profile velocity mode This RPDO contains the current status information of the car drive unit. This RPDO shall be supported if the car position is based on the profile velocity mode of the car drive unit. Receive PDO communication parameter Index 1517h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 195h 255d

Comment Number of mapped objects Statusword Velocity actual value

Default Value 2 6C01 00 10h 6C33 00 20h

Receive PDO mapping parameter Index 1717h

Sub-Index 00h 01h 02h

5.3.8.27 Receive PDO lift number 3 car drive status – profile velocity mode This RPDO contains the current status information of the car drive unit. This RPDO shall be supported if the car position is based on the profile velocity mode of the car drive unit. Receive PDO communication parameter Index 1527h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1A5h 255d

Comment Number of mapped objects Statusword Velocity actual value

Default Value 2 7401 00 10h 7433 00 20h

Receive PDO mapping parameter Index 1727h

Sub-Index 00h 01h 02h

5.3.8.28 Receive PDO lift number 4 car drive status – profile velocity mode This RPDO contains the current status information of the car drive unit. This RPDO shall be supported if the car position is based on the profile velocity mode of the car drive unit. Receive PDO communication parameter Index 1537h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1B5h 255d

Comment Number of mapped objects Statusword Velocity actual value

Default Value 2 7C01 00 10h 7C33 00 20h

Receive PDO mapping parameter Index 1737h

Sub-Index 00h 01h 02h

81

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

5.3.8.29 Receive PDO lift number 5 car drive status – profile velocity mode This RPDO contains the current status information of the car drive unit. This RPDO shall be supported if the car position is based on the profile velocity mode of the car drive unit. Receive PDO communication parameter Index 1547h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1C5h 255d

Comment Number of mapped objects Statusword Velocity actual value

Default Value 2 8401 00 10h 8433 00 20h

Receive PDO mapping parameter Index 1747h

Sub-Index 00h 01h 02h

5.3.8.30 Receive PDO lift number 6 car drive status – profile velocity mode This RPDO contains the current status information of the car drive unit. This RPDO shall be supported if the car position is based on the profile velocity mode of the car drive unit. Receive PDO communication parameter Index 1557h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1D5h 255d

Comment Number of mapped objects Statusword Velocity actual value

Default Value 2 8C01 00 10h 8C33 00 20h

Receive PDO mapping parameter Index 1757h

Sub-Index 00h 01h 02h

5.3.8.31 Receive PDO lift number 7 car drive status – profile velocity mode This RPDO contains the current status information of the car drive unit. This RPDO shall be supported if the car position is based on the profile velocity mode of the car drive unit. Receive PDO communication parameter Index 1567h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1E5h 255d

Comment Number of mapped objects Statusword Velocity actual value

Default Value 2 9401 00 10h 9433 00 20h

Receive PDO mapping parameter Index 1767h

Sub-Index 00h 01h 02h

82

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

5.3.8.32 Receive PDO lift number 8 car drive status – profile velocity mode This RPDO contains the current status information of the car drive unit. This RPDO shall be supported if the car position is based on the profile velocity mode of the car drive unit. Receive PDO communication parameter Index 1577h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1F5h 255d

Comment Number of mapped objects Statusword Velocity actual value

Default Value 2 9C01 00 10h 9C33 00 20h

Receive PDO mapping parameter Index 1777h

Sub-Index 00h 01h 02h

5.3.8.33 Receive PDO lift number 1 load measuring This RPDO contains the current status information of the load measuring unit. Receive PDO communication parameter Index 1502h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 188h 255d

Receive PDO mapping parameter Index 1702h

Sub-Index Comment 00h Number of mapped objects 01h Load signaling

Default Value 1 6482 01 08h

5.3.8.34 Receive PDO lift number 2 load measuring This RPDO contains the current status information of the load measuring unit. Receive PDO communication parameter Index 1512h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 198h 255d

Receive PDO mapping parameter Index 1712h

Sub-Index Comment 00h Number of mapped objects 01h Load signaling

Default Value 1 6C82 01 08h

5.3.8.35 Receive PDO lift number 3 load measuring This RPDO contains the current status information of the load measuring unit. Receive PDO communication parameter Index 1522h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

83

Default Value No 1A8h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

Receive PDO mapping parameter Index 1722h

Sub-Index Comment 00h Number of mapped objects 01h Load signaling

Default Value 1 7482 01 08h

5.3.8.36 Receive PDO lift number 4 load measuring This RPDO contains the current status information of the load measuring unit. Receive PDO communication parameter Index 1532h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1B8h 255d

Receive PDO mapping parameter Index 1732h

Sub-Index Comment 00h Number of mapped objects 01h Load signaling

Default Value 1 7C82 01 08h

5.3.8.37 Receive PDO lift number 5 load measuring This RPDO contains the current status information of the load measuring unit. Receive PDO communication parameter Index 1542h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1C8h 255d

Receive PDO mapping parameter Index 1742h

Sub-Index Comment 00h Number of mapped objects 01h Load signaling

Default Value 1 8482 01 08h

5.3.8.38 Receive PDO lift number 6 load measuring This RPDO contains the current status information of the load measuring unit. Receive PDO communication parameter Index 1552h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1D8h 255d

Receive PDO mapping parameter Index 1752h

Sub-Index Comment 00h Number of mapped objects 01h Load signaling

Default Value 1 8C82 01 08h

5.3.8.39 Receive PDO lift number 7 load measuring This RPDO contains the current status information of the load measuring unit. Receive PDO communication parameter Index 1562h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type 84

Default Value No 1E8h 255d

CiA

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

Receive PDO mapping parameter Index 1762h

Sub-Index Comment 00h Number of mapped objects 01h Load signaling

Default Value 1 9482 01 08h

5.3.8.40 Receive PDO lift number 8 load measuring This RPDO contains the current status information of the load measuring unit. Receive PDO communication parameter Index 1572h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1F8h 255d

Receive PDO mapping parameter Index 1772h

Sub-Index Comment 00h Number of mapped objects 01h Load signaling

Default Value 1 9C82 01 08h

5.3.8.41 Receive PDO lift number 1 car position This RPDO contains the current position of the car position unit 1. Receive PDO communication parameter Index 1506h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 18Ch 255d

Receive PDO mapping parameter Index 1706h

Sub-Index Comment 00h Number of mapped objects 01h Position unit 1

Default Value 1 6383 01 20h

5.3.8.42 Receive PDO lift number 2 car position This RPDO contains the current position of the car position unit 1. Receive PDO communication parameter Index 1516h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 19Ch 255d

Receive PDO mapping parameter Index 1716h

Sub-Index Comment 00h Number of mapped objects 01h Position unit 1

Default Value 1 6B83 01 20h

5.3.8.43 Receive PDO lift number 3 car position This RPDO contains the current position of the car position unit 1. Receive PDO communication parameter Index 1526h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type 85

Default Value No 1ACh 255d

CiA

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

Receive PDO mapping parameter Index 1726h

Sub-Index Comment 00h Number of mapped objects 01h Position unit 1

Default Value 1 7383 01 20h

5.3.8.44 Receive PDO lift number 4 car position This RPDO contains the current position of the car position unit 1. Receive PDO communication parameter Index 1536h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1BCh 255d

Receive PDO mapping parameter Index 1736h

Sub-Index Comment 00h Number of mapped objects 01h Position unit 1

Default Value 1 7B83 01 20h

5.3.8.45 Receive PDO lift number 5 car position This RPDO contains the current position of the car position unit 1. Receive PDO communication parameter Index 1546h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1CCh 255d

Receive PDO mapping parameter Index 1746h

Sub-Index Comment 00h Number of mapped objects 01h Position unit 1

Default Value 1 8383 01 20h

5.3.8.46 Receive PDO lift number 6 car position This RPDO contains the current position of the car position unit 1. Receive PDO communication parameter Index 1556h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1DCh 255d

Receive PDO mapping parameter Index 1756h

Sub-Index Comment 00h Number of mapped objects 01h Position unit 1

Default Value 1 8B83 01 20h

5.3.8.47 Receive PDO lift number 7 car position This RPDO contains the current position of the car position unit 1. Receive PDO communication parameter Index 1566h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type 86

Default Value No 1ECh 255d

CiA

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 1766h

Sub-Index Comment 00h Number of mapped objects 01h Position unit 1

Default Value 1 9383 01 20h

5.3.8.48 Receive PDO lift number 8 car position This RPDO contains the current position of the car position unit 1. Receive PDO communication parameter Index 1576h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1FCh 255d

Receive PDO mapping parameter Index 1776h

Sub-Index Comment 00h Number of mapped objects 01h Position unit 1

Default Value 1 9B83 01 20h

5.3.8.49 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. Receive PDO communication parameter Index 150Ah

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 201h 255d

Comment Number of mapped objects Door 1 statusword Door 1 position

Default Value 4 6301 01 10h 6302 01 10h

Receive PDO mapping parameter Index 170Ah

Sub-Index 00h 01h 02h

5.3.8.50 Receive PDO lift number 2 car door 1 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 151Ah

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

87

Default Value No 211h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 171Ah

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 1 statusword Door 1 position

Default Value 4 6B01 01 10h 6B02 01 10h

5.3.8.51 Receive PDO lift number 3 car door 1 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 152Ah

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 221h 255d

Comment Number of mapped objects Door 1 statusword Door 1 position

Default Value 4 7301 01 10h 7302 01 10h

Receive PDO mapping parameter Index 172Ah

Sub-Index 00h 01h 02h

5.3.8.52 Receive PDO lift number 4 car door 1 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 153Ah

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 231h 255d

Comment Number of mapped objects Door 1 statusword Door 1 position

Default Value 4 7B01 01 10h 7B02 01 10h

Receive PDO mapping parameter Index 173Ah

Sub-Index 00h 01h 02h

5.3.8.53 Receive PDO lift number 5 car door 1 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 154Ah

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

88

Default Value No 241h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 174Ah

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 1 statusword Door 1 position

Default Value 4 8301 01 10h 8302 01 10h

5.3.8.54 Receive PDO lift number 6 car door 1 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 155Ah

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 251h 255d

Comment Number of mapped objects Door 1 statusword Door 1 position

Default Value 4 8B01 01 10h 8B02 01 10h

Receive PDO mapping parameter Index 175Ah

Sub-Index 00h 01h 02h

5.3.8.55 Receive PDO lift number 7 car door 1 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 156Ah

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 261h 255d

Comment Number of mapped objects Door 1 statusword Door 1 position

Default Value 4 9301 01 10h 9302 01 10h

Receive PDO mapping parameter Index 176Ah

Sub-Index 00h 01h 02h

5.3.8.56 Receive PDO lift number 8 car door 1 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 157Ah

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

89

Default Value No 201h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 177Ah

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 1 statusword Door 1 position

Default Value 4 9B01 01 10h 9B02 01 10h

5.3.8.57 Receive PDO lift number 1 car door 2 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 150Ch

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 202h 255d

Comment Number of mapped objects Door 2 statusword Door 2 position

Default Value 4 6301 02 10h 6302 02 10h

Receive PDO mapping parameter Index 170Ch

Sub-Index 00h 01h 02h

5.3.8.58 Receive PDO lift number 2 car door 2 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 151Ch

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 212h 255d

Comment Number of mapped objects Door 2 statusword Door 2 position

Default Value 4 6B01 02 10h 6B02 02 10h

Receive PDO mapping parameter Index 171Ch

Sub-Index 00h 01h 02h

5.3.8.59 Receive PDO lift number 3 car door 2 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 152Ch

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

90

Default Value No 222h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 172Ch

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 2 statusword Door 2 position

Default Value 4 7301 02 10h 7302 02 10h

5.3.8.60 Receive PDO lift number 4 car door 2 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 153Ah

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 231h 255d

Comment Number of mapped objects Door 1 statusword Door 1 position

Default Value 4 7B01 01 10h 7B02 01 10h

Receive PDO mapping parameter Index 173Ah

Sub-Index 00h 01h 02h

5.3.8.61 Receive PDO lift number 5 car door 2 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 154Ch

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 242h 255d

Comment Number of mapped objects Door 2 statusword Door 2 position

Default Value 4 8301 02 10h 8302 02 10h

Receive PDO mapping parameter Index 174Ch

Sub-Index 00h 01h 02h

5.3.8.62 Receive PDO lift number 6 car door 2 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 155Ch

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

91

Default Value No 252h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 175Ch

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 2 statusword Door 2 position

Default Value 4 8B01 02 10h 8B02 02 10h

5.3.8.63 Receive PDO lift number 7 car door 2 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 156Ch

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 262h 255d

Comment Number of mapped objects Door 2 statusword Door 2 position

Default Value 4 9301 02 10h 9302 02 10h

Receive PDO mapping parameter Index 176Ch

Sub-Index 00h 01h 02h

5.3.8.64 Receive PDO lift number 8 car door 2 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 157Ch

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 202h 255d

Comment Number of mapped objects Door 2 statusword Door 2 position

Default Value 4 9B01 01 10h 9B02 01 10h

Receive PDO mapping parameter Index 177Ch

Sub-Index 00h 01h 02h

5.3.8.65 Receive PDO lift number 1 car door 3 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 150Eh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

92

Default Value No 203h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 170Eh

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 3 statusword Door 3 position

Default Value 4 6301 03 10h 6302 03 10h

5.3.8.66 Receive PDO lift number 2 car door 3 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 151Eh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 213h 255d

Comment Number of mapped objects Door 3 statusword Door 3 position

Default Value 4 6B01 03 10h 6B02 03 10h

Receive PDO mapping parameter Index 171Eh

Sub-Index 00h 01h 02h

5.3.8.67 Receive PDO lift number 3 car door 3 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 152Eh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 223h 255d

Comment Number of mapped objects Door 3 statusword Door 3 position

Default Value 4 7301 03 10h 7302 03 10h

Receive PDO mapping parameter Index 172Eh

Sub-Index 00h 01h 02h

5.3.8.68 Receive PDO lift number 4 car door 3 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 153Eh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

93

Default Value No 233h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 173Eh

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 3 statusword Door 3 position

Default Value 4 7B01 03 10h 7B02 03 10h

5.3.8.69 Receive PDO lift number 5 car door 3 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 154Eh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 243h 255

Comment Number of mapped objects Door 3 statusword Door 3 position

Default Value 4 8301 03 10h 8302 03 10h

Receive PDO mapping parameter Index 174Eh

Sub-Index 00h 01h 02h

5.3.8.70 Receive PDO lift number 6 car door 3 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 155Eh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 253h 255d

Comment Number of mapped objects Door 3 statusword Door 3 position

Default Value 4 8B01 03 10h 8B02 03 10h

Receive PDO mapping parameter Index 175Eh

Sub-Index 00h 01h 02h

5.3.8.71 Receive PDO lift number 7 car door 3 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 156Eh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

94

Default Value No 263h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Receive PDO mapping parameter Index 176Eh

Sub-Index 00h 01h 02h

Comment Number of mapped objects Door 3 statusword Door 3 position

Default Value 4 9301 03 10h 9302 03 10h

5.3.8.72 Receive PDO lift number 8 car door 3 status and position This RPDO contains status information of the car door unit and the position of the according car door. Receive PDO communication parameter Index 157Eh

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 203h 255d

Comment Number of mapped objects Door 3 statusword Door 3 position

Default Value 4 9B01 03 10h 9B02 03 10h

Receive PDO mapping parameter Index 177Eh

5.3.9 5.3.9.1

Sub-Index 00h 01h 02h

Car drive unit 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 transmission type is set 255d. This TPDO shall be supported if the car drive is used in profile position mode. Transmit PDO communication parameter Index 1905h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 181h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B05h

5.3.9.2

Sub-Index 00h 01h 02h

Comment Number of mapped objects Statusword Control effort

Default Value 2 6401 00 10h 6406 00 20h

Transmit PDO lift number 2 car drive status – profile position mode

This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmission type is set 255d. This TPDO shall be supported if the car drive is used in profile position mode. Transmit PDO communication parameter Index 1915h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer 95

Default Value No 191h 255d 0 See /CiA301/ 0

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO mapping parameter Index 1B15h

5.3.9.3

Sub-Index 00h 01h 02h

Comment Number of mapped objects Statusword Control effort

Default Value 2 6C01 00 10h 6C06 00 20h

Transmit PDO lift number 3 car drive status – profile position mode

This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmission type is set 255d. This TPDO shall be supported if the car drive is used in profile position mode. Transmit PDO communication parameter Index 1925h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1A1h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B25h

5.3.9.4

Sub-Index 00h 01h 02h

Comment Number of mapped objects Statusword Control effort

Default Value 2 7401 00 10h 7406 00 20h

Transmit PDO lift number 4 car drive status – profile position mode

This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmission type is set 255d. This TPDO shall be supported if the car drive is used in profile position mode. Transmit PDO communication parameter Index 1935h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1B1h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B35h

Sub-Index 00h 01h 02h

Comment Number of mapped objects Statusword Control effort

96

Default Value 2 7C01 00 10h 7C06 00 20h

DSP 417-3 1.0.1 5.3.9.5

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO lift number 5 car drive status – profile position mode

This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmission type is set 255d. This TPDO shall be supported if the car drive is used in profile position mode. Transmit PDO communication parameter Index 1945h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1C1h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B45h

5.3.9.6

Sub-Index 00h 01h 02h

Comment Number of mapped objects Statusword Control effort

Default Value 2 8401 00 10h 8406 00 20h

Transmit PDO lift number 6 car drive status – profile position mode

This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmission type is set 255d. This TPDO shall be supported if the car drive is used in profile position mode. Transmit PDO communication parameter Index 1955h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1D1h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B55h

5.3.9.7

Sub-Index 00h 01h 02h

Comment Number of mapped objects Statusword Control effort

Default Value 2 8C01 00 10h 8C06 00 20h

Transmit PDO lift number 7 car drive status – profile position mode

This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmission type is set 255d. This TPDO shall be supported if the car drive is used in profile position mode. Transmit PDO communication parameter Index 1965h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

97

Default Value No 1E1h 255d 0 See /CiA301/ 0

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO mapping parameter Index 1B65h

5.3.9.8

Sub-Index 00h 01h 02h

Comment Number of mapped objects Statusword Control effort

Default Value 2 9401 00 10h 9406 00 20h

Transmit PDO lift number 8 car drive status – profile position mode

This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmission type is set 255d. This TPDO shall be supported if the car drive is used in profile position mode. Transmit PDO communication parameter Index 1975h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1F1h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B75h

5.3.9.9

Sub-Index 00h 01h 02h

Comment Number of mapped objects Statusword Control effort

Default Value 2 9C01 00 10h 9C06 00 20h

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 transmission type is set 255d. This TPDO shall be supported if the car drive is used in profile velocity mode. Transmit PDO communication parameter Index 1907h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 185h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B07h

Sub-Index 00h 01h 02h

Comment Number of mapped objects Statusword Velocity actual value

98

Default Value 2 6401 00 10h 6433 00 20h

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

5.3.9.10 Transmit PDO lift number 2 car drive status – profile velocity mode This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmission type is set 255d. This TPDO shall be supported if the car drive is used in profile velocity mode. Transmit PDO communication parameter Index 1917h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 195h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B17h

Sub-Index 00h 01h 02h

Comment Number of mapped objects Statusword Velocity actual value

Default Value 2 6C01 00 10h 6C33 00 20h

5.3.9.11 Transmit PDO lift number 3 car drive status – profile velocity mode This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmission type is set 255d. This TPDO shall be supported if the car drive is used in profile velocity mode. Transmit PDO communication parameter Index 1927h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1A5h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B27h

Sub-Index 00h 01h 02h

Comment Number of mapped objects Statusword Velocity actual value

Default Value 2 7401 00 10h 7433 00 20h

5.3.9.12 Transmit PDO lift number 4 car drive status – profile velocity mode This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmission type is set 255d. This TPDO shall be supported if the car drive is used in profile velocity mode. Transmit PDO communication parameter Index 1937h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

99

Default Value No 1B5h 255d 0 See /CiA301/ 0

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Transmit PDO mapping parameter Index 1B37h

Sub-Index 00h 01h 02h

Comment Number of mapped objects Statusword Velocity actual value

Default Value 2 7C01 00 10h 7C33 00 20h

5.3.9.13 Transmit PDO lift number 5 car drive status – profile velocity mode This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmission type is set 255d. This TPDO shall be supported if the car drive is used in profile velocity mode. Transmit PDO communication parameter Index 1947h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1C5h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B47h

Sub-Index 00h 01h 02h

Comment Number of mapped objects Statusword Velocity actual value

Default Value 2 8401 00 10h 8433 00 20h

5.3.9.14 Transmit PDO lift number 6 car drive status – profile velocity mode This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmission type is set 255d. This TPDO shall be supported if the car drive is used in profile velocity mode. Transmit PDO communication parameter Index 1957h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1D5h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B57h

Sub-Index 00h 01h 02h

Comment Number of mapped objects Statusword Velocity actual value

100

Default Value 2 8C01 00 10h 8C33 00 20h

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

5.3.9.15 Transmit PDO lift number 7 car drive status – profile velocity mode This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmission type is set 255d. This TPDO shall be supported if the car drive is used in profile velocity mode. Transmit PDO communication parameter Index 1967h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1E5h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B67h

Sub-Index 00h 01h 02h

Comment Number of mapped objects Statusword Velocity actual value

Default Value 2 9401 00 10h 9433 00 20h

5.3.9.16 Transmit PDO lift number 8 car drive status – profile velocity mode This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmission type is set 255d. This TPDO shall be supported if the car drive is used in profile velocity mode. Transmit PDO communication parameter Index 1977h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1F5h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B77h

Sub-Index 00h 01h 02h

Comment Number of mapped objects Statusword Velocity actual value

Default Value 2 9C01 00 10h 9C33 00 20h

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 shall be supported if the car drive unit is used in profile position mode. Receive PDO communication parameter Index 1504h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 180h 255d

Comment Number of mapped objects Controlword Target position

Default Value 2 6400 00 10h 6420 00 20h

Receive PDO mapping parameter Index 1704h

Sub-Index 00h 01h 02h

101

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

5.3.9.18 Receive PDO lift number 2 car drive control – profile position mode This RPDO contains the current control data including of the current target position. This RPDO shall be supported if the car drive unit is used in profile position mode. Receive PDO communication parameter Index 1514h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 190h 255d

Comment Number of mapped objects Controlword Target position

Default Value 2 6C00 00 10h 6C20 00 20h

Receive PDO mapping parameter Index 1714h

Sub-Index 00h 01h 02h

5.3.9.19 Receive PDO lift number 3 car drive control – profile position mode This RPDO contains the current control data including of the current target position. This RPDO shall be supported if the car drive unit is used in profile position mode. Receive PDO communication parameter Index 1524h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1A0h 255d

Comment Number of mapped objects Controlword Target position

Default Value 2 7400 00 10h 7420 00 20h

Receive PDO mapping parameter Index 1724h

Sub-Index 00h 01h 02h

5.3.9.20 Receive PDO lift number 4 car drive control – profile position mode This RPDO contains the current control data including of the current target position. This RPDO shall be supported if the car drive unit is used in profile position mode. Receive PDO communication parameter Index 1534h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1B0h 255d

Comment Number of mapped objects Controlword Target position

Default Value 2 7C00 00 10h 7C20 00 20h

Receive PDO mapping parameter Index 1734h

Sub-Index 00h 01h 02h

102

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

5.3.9.21 Receive PDO lift number 5 car drive control – profile position mode This RPDO contains the current control data including of the current target position. This RPDO shall be supported if the car drive unit is used in profile position mode. Receive PDO communication parameter Index 1544h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1C0h 255d

Comment Number of mapped objects Controlword Target position

Default Value 2 8400 00 10h 8420 00 20h

Receive PDO mapping parameter Index 1744h

Sub-Index 00h 01h 02h

5.3.9.22 Receive PDO lift number 6 car drive control – profile position mode This RPDO contains the current control data including of the current target position. This RPDO shall be supported if the car drive unit is used in profile position mode. Receive PDO communication parameter Index 1554h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1D0h 255d

Comment Number of mapped objects Controlword Target position

Default Value 2 8C00 00 10h 8C20 00 20h

Receive PDO mapping parameter Index 1754h

Sub-Index 00h 01h 02h

5.3.9.23 Receive PDO lift number 7 car drive control – profile position mode This RPDO contains the current control data including of the current target position. This RPDO shall be supported if the car drive unit is used in profile position mode. Receive PDO communication parameter Index 1564h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1E0h 255d

Comment Number of mapped objects Controlword Target position

Default Value 2 9400 00 10h 9420 00 20h

Receive PDO mapping parameter Index 1764h

Sub-Index 00h 01h 02h

103

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

5.3.9.24 Receive PDO lift number 8 car drive control – profile position mode This RPDO contains the current control data including of the current target position. This RPDO shall be supported if the car drive unit is used in profile position mode. Receive PDO communication parameter Index 1574h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1F0h 255d

Comment Number of mapped objects Controlword Target position

Default Value 2 9C00 00 10h 9C20 00 20h

Receive PDO mapping parameter Index 1774h

Sub-Index 00h 01h 02h

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 shall be supported if the car drive unit is used in profile velocity mode. Receive PDO communication parameter Index 1506h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 184h 255d

Comment Number of mapped objects Controlword Target velocity

Default Value 2 6400 00 10h 6430 00 20h

Receive PDO mapping parameter Index 1706h

Sub-Index 00h 01h 02h

5.3.9.26 Receive PDO lift number 2 car drive control – profile velocity mode This RPDO contains the current control data including of the current target velocity. This RPDO shall be supported if the car drive unit is used in profile velocity mode. Receive PDO communication parameter Index 1516h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 194h 255d

Comment Number of mapped objects Controlword Target velocity

Default Value 2 6C00 00 10h 6C30 00 20h

Receive PDO mapping parameter Index 1716h

Sub-Index 00h 01h 02h

104

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

5.3.9.27 Receive PDO lift number 3 car drive control – profile velocity mode This RPDO contains the current control data including of the current target velocity. This RPDO shall be supported if the car drive unit is used in profile velocity mode. Receive PDO communication parameter Index 1526h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1A4h 255

Comment Number of mapped objects Controlword Target velocity

Default Value 2 7400 00 10h 7430 00 20h

Receive PDO mapping parameter Index 1726h

Sub-Index 00h 01h 02h

5.3.9.28 Receive PDO lift number 4 car drive control – profile velocity mode This RPDO contains the current control data including of the current target velocity. This RPDO shall be supported if the car drive unit is used in profile velocity mode. Receive PDO communication parameter Index 1536h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1B4h 255d

Comment Number of mapped objects Controlword Target velocity

Default Value 2 7C00 00 10h 7C30 00 20h

Receive PDO mapping parameter Index 1736h

Sub-Index 00h 01h 02h

5.3.9.29 Receive PDO lift number 5 car drive control – profile velocity mode This RPDO contains the current control data including of the current target velocity. This RPDO shall be supported if the car drive unit is used in profile velocity mode. Receive PDO communication parameter Index 1546h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1C4h 255d

Comment Number of mapped objects Controlword Target velocity

Default Value 2 8400 00 10h 8430 00 20h

Receive PDO mapping parameter Index 1746h

Sub-Index 00h 01h 02h

105

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

5.3.9.30 Receive PDO lift number 6 car drive control – profile velocity mode This RPDO contains the current control data including of the current target velocity. This RPDO shall be supported if the car drive unit is used in profile velocity mode. Receive PDO communication parameter Index 1556h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1D4h 255d

Comment Number of mapped objects Controlword Target velocity

Default Value 2 8C00 00 10h 8C30 00 20h

Receive PDO mapping parameter Index 1756h

Sub-Index 00h 01h 02h

5.3.9.31 Receive PDO lift number 7 car drive control – profile velocity mode This RPDO contains the current control data including of the current target velocity. This RPDO shall be supported if the car drive unit is used in profile velocity mode. Receive PDO communication parameter Index 1566h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1E4h 255d

Comment Number of mapped objects Controlword Target velocity

Default Value 2 9400 00 10h 9430 00 20h

Receive PDO mapping parameter Index 1766h

Sub-Index 00h 01h 02h

5.3.9.32 Receive PDO lift number 8 car drive control – profile velocity mode This RPDO contains the current control data including of the current target velocity. This RPDO shall be supported if the car drive unit is used in profile velocity mode. Receive PDO communication parameter Index 1576h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1F4h 255d

Comment Number of mapped objects Controlword Target velocity

Default Value 2 9C00 00 10h 9C30 00 20h

Receive PDO mapping parameter Index 1776h

Sub-Index 00h 01h 02h

5.3.9.33 Receive PDO lift number 1 load measuring This RPDO contains current status of the load measuring unit. Receive PDO communication parameter Index 1502h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type 106

Default Value No 188h 255d

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

Receive PDO mapping parameter Index 1702h

Sub-Index Comment 00h Number of mapped objects 01h Load signaling

Default Value 1 6482 01 08h

5.3.9.34 Receive PDO lift number 2 load measuring This RPDO contains current status of the load measuring unit. Receive PDO communication parameter Index 1512h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 198h 255

Receive PDO mapping parameter Index 1712h

Sub-Index Comment 00h Number of mapped objects 01h Load signaling

Default Value 1 6C82 01 08h

5.3.9.35 Receive PDO lift number 3 load measuring This RPDO contains current status of the load measuring unit. Receive PDO communication parameter Index 1522h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1A8h 255d

Receive PDO mapping parameter Index 1722h

Sub-Index Comment 00h Number of mapped objects 01h Load signaling

Default Value 1 7482 01 08h

5.3.9.36 Receive PDO lift number 4 load measuring This RPDO contains current status of the load measuring unit. Receive PDO communication parameter Index 1532h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1B8h 255d

Receive PDO mapping parameter Index 1732h

Sub-Index Comment 00h Number of mapped objects 01h Load signaling

Default Value 1 7C82 01 08h

5.3.9.37 Receive PDO lift number 5 load measuring This RPDO contains current status of the load measuring unit. Receive PDO communication parameter Index 1542h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type 107

Default Value No 1C8h 255d

CiA

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

Receive PDO mapping parameter Index 1742h

Sub-Index Comment 00h Number of mapped objects 01h Load signaling

Default Value 1 8482 01 08h

5.3.9.38 Receive PDO lift number 6 load measuring This RPDO contains current status of the load measuring unit. Receive PDO communication parameter Index 1552h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1D8h 255d

Receive PDO mapping parameter Index 1752h

Sub-Index Comment 00h Number of mapped objects 01h Load signaling

Default Value 1 8C82 01 08h

5.3.9.39 Receive PDO lift number 7 load measuring This RPDO contains current status of the load measuring unit. Receive PDO communication parameter Index 1562h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1E8h 255d

Receive PDO mapping parameter Index 1762h

Sub-Index Comment 00h Number of mapped objects 01h Load signaling

Default Value 1 9482 01 08h

5.3.9.40 Receive PDO lift number 8 load measuring This RPDO contains current status of the load measuring unit. Receive PDO communication parameter Index 1572h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1F8h 255d

Receive PDO mapping parameter Index 1772h

Sub-Index Comment 00h Number of mapped objects 01h Load signaling

Default Value 1 9C82 01 08h

5.3.9.41 Receive PDO lift number 1 car position This RPDO contains current position of the car position unit 1. Receive PDO communication parameter Index 1506h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type 108

Default Value No 18Ch 255d

CiA

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

Receive PDO mapping parameter Index 1706h

Sub-Index Comment 00h Number of mapped objects 01h Position unit 1

Default Value 1 6383 01 20h

5.3.9.42 Receive PDO lift number 2 car position This RPDO contains current position of the car position unit 1. Receive PDO communication parameter Index 1516h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 19Ch 255d

Receive PDO mapping parameter Index 1716h

Sub-Index Comment 00h Number of mapped objects 01h Position unit 1

Default Value 1 6B83 01 20h

5.3.9.43 Receive PDO lift number 3 car position This RPDO contains current position of the car position unit 1. Receive PDO communication parameter Index 1526h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1ACh 255d

Receive PDO mapping parameter Index 1726h

Sub-Index Comment 00h Number of mapped objects 01h Position unit 1

Default Value 1 7383 01 20h

5.3.9.44 Receive PDO lift number 4 car position This RPDO contains current position of the car position unit 1. Receive PDO communication parameter Index 1536h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1BCh 255d

Receive PDO mapping parameter Index 1736h

Sub-Index Comment 00h Number of mapped objects 01h Position unit 1

Default Value 1 7B83 01 20h

5.3.9.45 Receive PDO lift number 5 car position This RPDO contains current position of the car position unit 1. Receive PDO communication parameter Index 1546h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type 109

Default Value No 1CCh 255d

CiA

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

Receive PDO mapping parameter Index 1746h

Sub-Index Comment 00h Number of mapped objects 01h Position unit 1

Default Value 1 8383 01 20h

5.3.9.46 Receive PDO lift number 6 car position This RPDO contains current position of the car position unit 1. Receive PDO communication parameter Index 1556h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1DCh 255d

Receive PDO mapping parameter Index 1756h

Sub-Index Comment 00h Number of mapped objects 01h Position unit 1

Default Value 1 8B83 01 20h

5.3.9.47 Receive PDO lift number 7 car position This RPDO contains current position of the car position unit 1. Receive PDO communication parameter Index 1566h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1ECh 255d

Receive PDO mapping parameter Index 1766h

Sub-Index Comment 00h Number of mapped objects 01h Position unit 1

Default Value 1 9383 01 20h

5.3.9.48 Receive PDO lift number 8 car position This RPDO contains current position of the car position unit 1. Receive PDO communication parameter Index 1576h

Sub-Index 00h 01h 02h

Comment Largest sub-index supported COB-ID used by PDO Transmission type

Default Value No 1FCh 255d

Receive PDO mapping parameter Index 1776h

Sub-Index Comment 00h Number of mapped objects 01h Position unit 1

110

Default Value 1 9B83 01 20h

CiA

DSP 417-3 1.0.1 5.3.10

CANopen Application Profile for Lift Control Systems

CiA

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 the transmission type is set to 255d. Transmit PDO communication parameter Index 1902h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 188h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B02h

Sub-Index Comment 00h Number of mapped objects 01h Load signaling

Default Value 1 6482 01 08h

5.3.10.2 Transmit PDO lift number 2 load measuring This TPDO shall be transmitted whenever the status of the load measuring unit changes and the transmission type is set to 255d. Transmit PDO communication parameter Index 1912h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 198h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B12h

Sub-Index Comment 00h Number of mapped objects 01h Load signaling

Default Value 1 6C82 01 08h

5.3.10.3 Transmit PDO lift number 3 load measuring This TPDO shall be transmitted whenever the status of the load measuring unit changes and the transmission type is set to 255d. Transmit PDO communication parameter Index 1922h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1A8h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B22h

Sub-Index Comment 00h Number of mapped objects 01h Load signaling 111

Default Value 1 7482 01 08h

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

5.3.10.4 Transmit PDO lift number 4 load measuring This TPDO shall be transmitted whenever the status of the load measuring unit changes and the transmission type is set to 255d. Transmit PDO communication parameter Index 1932h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1B8h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B32h

Sub-Index Comment 00h Number of mapped objects 01h Load signaling

Default Value 1 7C82 01 08h

5.3.10.5 Transmit PDO lift number 5 load measuring This TPDO shall be transmitted whenever the status of the load measuring unit changes and the transmission type is set to 255d. Transmit PDO communication parameter Index 1942h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1C8h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B42h

Sub-Index Comment 00h Number of mapped objects 01h Load signaling

Default Value 1 8482 01 08h

5.3.10.6 Transmit PDO lift number 6 load measuring This TPDO shall be transmitted whenever the status of the load measuring unit changes and the transmission type is set to 255d. Transmit PDO communication parameter Index 1952h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1D8h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B52h

Sub-Index Comment 00h Number of mapped objects 01h Load signaling

112

Default Value 1 8C82 01 08h

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

5.3.10.7 Transmit PDO lift number 7 load measuring This TPDO shall be transmitted whenever the status of the load measuring unit changes and the transmission type is set to 255d. Transmit PDO communication parameter Index 1962h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1E8h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B62h

Sub-Index Comment 00h Number of mapped objects 01h Load signaling

Default Value 1 9482 01 08h

5.3.10.8 Transmit PDO lift number 8 load measuring This TPDO shall be transmitted whenever the status of the load measuring unit changes and the transmission type is set to 255d. Transmit PDO communication parameter Index 1972h

Sub-Index 00h 01h 02h 03h 04h 05h

Comment Largest sub-index supported COB-ID used by PDO Transmission type Inhibit time reserved Event timer

Default Value No 1F8h 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index 1B072h

5.3.11

Sub-Index Comment 00h Number of mapped objects 01h Load signaling

Default Value 1 9C82 01 08h

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 transmission type is set to 255d. Transmit PDO communication parameter Index Sub-Index Comment 1981h 00h Largest sub-index supported 01h COB-ID used by PDO 02h Transmission type 03h Inhibit time 04h reserved 05h Event timer

Default Value No 280h + Node-ID 255d 0 See /CiA301/ 0

Transmit PDO mapping parameter Index Sub-Index Comment 1B81h 00h Number of mapped objects 01h Sensor input mapping 113

Default Value 1 6012 00 30h

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

CiA

Annex A: Short overview of assignment Offset to PDO Beschreibung parameter

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

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

Lift 1

100h

Car door control

200h

109h

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

Car door 3 light barrier

207h

110h

Virtual output

401h

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

118h

Lift 2

10Ah

Car door control

210h

119h

-

11Ah

Car door 1 status + position

211h

11Bh

Car door 1 light barrier

215h

11Ch

Car door 2 status + position

212h

11Dh

Car door 2 light barrier

216h

11Eh

Car door 3 status + position

213h

11Fh

Car door 3 light barrier

217h 114

DSP 417-3 1.0.1

CANopen Application Profile for Lift Control Systems

Offset to PDO Beschreibung parameter

CiA COB-ID

::::::::::::: Virtual output

407h

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

Car door control

270h

178h

Lift 8

170h

179h

-

17Ah

Car door 1 status + position

271h

17Bh

Car door 1 light barrier

275h

17Ch

Car door 2 status + position

272h

17Dh

Car door 2 light barrier

276h

17Eh

Car door 3 status + position

273h

17Fh

Car door 3 light barrier

277h

180h

-

181h

Sensor input (transmit)

280h + Node-ID

181h

Sensor input (receive)

281h

::: 1FFh

:::::

:::

Sensor input (receive)

2FFh

115