Programming
CX8050, CX8051 - Embedded-PCs for
CANopen and CAN
58
Version: 1.4
Table 4: Description of the array
Offset
Bit
Value / description
0 - 1
Bit 0
reserved
Bit 1
Boot up message not received or
incorrect
Bit 2
Emergency-Overflow
Bit 3 - 15
reserved
2 - 3
Bit 0 - 14
TX-PDO (i+1) received
Bit 15
All TX PDOs 16-n received
4 - 5
Bit 0 - 4
1: Incorrect TX PDO length
2: Synchronous TX PDO absent
3: Node signalling PRE-
OPERATIONAL
4: Event timer timed out for TX
PDO
5: No response and guarding is
activated
6: Toggling missed several times
and guarding activated
Bit 5 - 15
Associated COB ID
6
Bit 0 - 7
1: Incorrect value during SDO
upload
2: Incorrect length during SDO
upload
3: Abort during SDO up/download
4: Incorrect date during a boot-up
message
5: Timeout while waiting for a boot-
up message
7
Bit 0 - 7
2: Incorrect SDO command
specifier
3: SDO toggle bit has not changed
4: SDO length too great
5: SDO-Abort
6: SDO-Timeout
8 - 9
Bit 0 - 7
SDO up/download index
10
Bit 0 - 7
SDO up/download sub-index
11
Bit 0 - 7
reserved
12
Bit 0 - 7
Abort errorClass
13
Bit 0 - 7
Abort errorCode
14 - 15
Bit 0 - 15
Abort additionalCode
16 - 19
Read value (if offset 6 = 1)
20 - 23
Expected value (if offset 6 = 1)
24 - 25
Number of consecutive
emergencies
26-n
Emergencies (8 bytes each)
Summary of Contents for CX8050
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