Applied Motion ST10-C-CE - Manual (Page 29)

29 920-0025 Rev K
3/5/2015
CANopen User Manual
0x1029 Error behavior
This object contains the error information of the CANopen driver.
Object Type Sub Number Data Type Access Type PDO Mapping COS
Array 7 UNSIGNED8 rw no no
Subindex Name Default value Actual value
00 max sub-index 6
01 Communication 0x00
02 Communication other 0x00
03 Communication passive 0x01
04 Generic 0x00
05 Device profile 0x00
06 Manufacturer specific 0x00
Value definition for all subindexes:
0x00 - if operational, switch to NMT pre-operational
0x01 - do nothing
0x02 - switch to NMT stopped
01 - Communication error - bus off or Heartbeat consumer error.
02 - Communication other error (critical errors - see ‘Error status bits’) except CAN bus
passive but including bus off or Heartbeat consumer.
03 - Communication passive - any communication error including CAN bus passive.
04 - Generic error (critical errors - see ‘Error status bits’).
05 - Device profile error - bit 5 in error register is set.
06 - Manufacturer specific error - bit 7 in error register is set.
0x1200 SDO server parameter
The object holds the COB-ID (communication object ID, also known as CAN message ID)
values used to access the driver’s SDO.
1. Sub-index 0 contains the number of sub-elements of this record.
2. Sub-index 1 used by the driver to receive SDO packets. The value is 0x600 +
$NODEID.
3. Sub-index 2 gives the COB-ID used by the driver to transmit SDO packets. The value is
0x580 + $NODEID.