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27
7.1.8.
Object 1014
h
COB-ID EM CY
This object configures the COB-ID for the EMCY write service. The factory default COB-ID of EMCY is
00000081
h
, which indicates:
▪
EMCY exists
▪
11-bit CAN-ID is valid
▪
CAN-ID of EMCY is 81
h
(default: 80
h
+ Node ID 01
h
)
It is not recommended to change the CAN-ID of EMCY to a different value.
7.1.9.
Object 1020
h
Verify configuration
This object provides the downloaded configuration date and time. It is used by configuration tools to compare the
current device configuration date with their DCF files and determine whether reconfiguration is necessary.
7.1.10.
Object 1029
h
Error behavi our
This object configures the device to enter the selected NMT state when a serious failure is detected. By default,
subindex 01
h
and 02
h
are both preconfigured with the default value of 00
h
, which means the device shall
autonomously enter pre-operational state.
Subindex
Error Type
Error behaviour
01
h
Communication error
00
h
– Change to NMT state pre-operational (only if
currently in NMT state Operational)
01
h
– No change of the NMT state
02
h
– Change to NMT state Stopped
03
h
… FF
h
– reserved
02
h
Profile- or manufacturer-specific
error
Table 19
– Object 1029
h
error behaviour
Failures include the following communication errors:
▪
Bus-off state of the CAN interface
▪
Life
guarding event with the state ‘occurred’ and the reason 'time out'
▪
Heartbeat event with state ‘occurred’ and the reason 'time out"
▪
Device internal failures
7.1.11.
Object 1800
h
, 1801
h
TPDO communication parameter
The device supports two TPDOs: object 1800
h
configures the communication parameters of TPDO1; object 1801
h
configures those of TPDO2.
Subindex
Description
Value
01
h
Defines the COB-ID of TPDO
Default CAN-ID of TPDO1 = 180
h
+ Node ID.
Default CAN-ID of TPDO2 = 280
h
+ Node ID.
4000181
h
– Enable TPDO1
C000181
h
– Disable TPDO1
02
h
TPDO transmission type
Synchronous: TPDO is transmitted after the SYNC
Event-driven: TPDO is transmitted at any time
based on the occurrence of an internal event.
00
h
– synchronous
FF
h
– event-driven (default)
03
h
Inhibit time
0000
h
– Disabled
05
h
Event timer
defines the interval of TPDO.
The value is defined as multiple of 1 ms.
0064
h
– TPDO1 event time 100 ms
0000
h
– Disabled.
Table 20 - TPDO communication parameter
