Applied Motion ST10-C-CE - Manual (Page 21)

21 920-0025 Rev K
3/5/2015
CANopen User Manual
Communication Profile
0x1000 - Device type
Contains information about the device type. The object at index 1000h describes the
type of device and its functionality. It is composed of a 16-bit field which describes the device
profile that is used and a second 16-bit field which gives additional information about optional
functionality of the device. The Additional Information parameter is device profile specific. Its
specification does not fall within the scope of this document, it is defined in the appropriate
device profile. The value 0000h indicates a device that does not follow a standardised device
profile. For multiple device modules the Additional Information parameter contains FFFFh and
the device profile number referenced by object 1000h is the device profile of the first device
in the Object Dictionary. All other devices of a multiple device module identify their profiles at
objects 67FFh + x*800h with x = internal number of the device (0-7).
These entries describe the device type of the preceding device.
Object Type Data Type Access Type PDO Mapping COS 1 Default value
Var UNSIGNED32 ro no no 0x00000000
bit 0-15: Device profile number
bit 16-31: Additional information
Note 1: COS means: TPDO detects the change of State
0x1001 - Error Register
This object is an error register for the device. The device can map internal errors in this
byte. This entry is mandatory for all devices. It is a part of an Emergency object.
Object Type Data Type Access Type PDO Mapping COS Default value
Var UNSIGNED8 ro optional no 0
bit 0: generic error
bit 1: current
bit 2: voltage
bit 3: temperature
bit 4: communication error (overrun, error state)
bit 5: Reserved (always 0)
bit 6: Reserved (always 0)
bit 7: Reserved (always 0)