Object 0x20A0: Auxiliary position actual value .................................................................... 13-14
Object 0x20A1: Main position error ...................................................................................... 13-15
Object 0x2200: Digital input ................................................................................................. 13-15
Object 0x2201: Digital input low byte ................................................................................... 13-16
Object 0x2205: Analog Input Object ................................................................................... 13-17
Then the reading obtained is:.............................................................................................. 13-18
Object 0x2F00: User Integer .................................................................................................. 13-18
Object 0x2F01: User Float Array........................................................................................... 13-19
Object 0x2F02: ET Array...................................................................................................... 13-20
Object 0x2F11: PVT head pointer .......................................................................................... 13-20
Object 0x2F12: PVT tail pointer............................................................................................ 13-21
Object 0x2F15: Profile position remaining points .................................................................. 13-21
Object 0x2F21: Emergency events ......................................................................................... 13-24
Object 0x2F22: Bus off time out............................................................................................. 13-29
Object 0x2F23: Digital input TPDO event parameters.......................................................... 13-29
Object 0x2F30: Last time stamp correction ............................................................................ 13-31
Object 0x2F31: Last SYNC time ............................................................................................ 13-31
Object 0x2F40: Configuration object...................................................................................... 13-32
Object 0x2F41: DS402 Configuration object.......................................................................... 13-33
Object 0x2F60 – Zero torque threshold .............................................................................. 13-34
Object 0x2F70 – CAN Encoder Range ................................................................................ 13-35
Chapter 14: Error Control Protocol ..................................................................................... 14-1
Chapter 15: Downloading Firmware .................................................................................. 15-1
Chapter 16: Initial CAN Communication Setup............................................................... 16-1
16.1
Setup Using RS-232................................................................................... 16-1
16.2
Bootup Protocol ....................................................................................... 16-2
Appendix A:
Little and Big Endians .................................................................................... A-1
CANopen DS 301 Implementation Guide
Contents
MAN-CAN301IG (Ver. 2.1)
iii
