Description of the canopen objects implemented, Lenze−codestellen und canopen−objekte – Lenze EMF2181IB User Manual
Page 56
Lenze−Codestellen und CANopen−Objekte
Description of the CANopen objects implemented
l
56
EDSMF2181IB EN 3.0
8.3
Description of the CANopen objects implemented
I−1000
hex
:
Device type
Index [
hex
]
Subindex
Name
Data type
Value range
Authorisatio
n
I−1000
0
Device type
U32
0 ... 2
32
− 1
ro
The object I−1000
specifies the device profile for this device. It is also possible to include
additional information here that is defined in the device profile itself. If no specific device
profile is used, the content is "0x0000".
Data telegram assignment
Byte 8
Byte 7
Byte 6
Byte 5
U32
Device profile number
Additional information
I−1001
hex
:
Error register
Reading the error register
Index [
hex
]
Subindex
Name
Data type
Value range
Rights
I−1001
0
Error register
U8
0...255
ro
Error status for the following bit assignment in the data byte (U8):
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Error status
0
0
0
0
0
0
0
0
No error
0
0
0
0
0
0
0
1
Error in the
communication module
0
0
0
1
0
0
0
1
Communication error
I−1017
hex
:
Producer heartbeat time
Index [
hex
]
Subindex
Name
Data type
Value range
Rights
I−1017
−
Producer heartbeat time
U32
U 16
rw
The heartbeat message is sent cyclically by the heartbeat generator (producer) to one or
more recipients (consumers).
After configuring the heartbeat producer time, the heartbeat protocol starts at the
transition from the NMT state INITIALISATION to the NMT state PREOPERATIONAL (if
predefined value > 0).
)
Note!
Unlike "node / life guarding" monitoring, the heartbeat protocol does not
contain a Remote Transmit Request" (RTR).
It is therefore not necessary for the recipient to answer after a heartbeat.