CAN Interface
English, Revision 01, Date: 14.04.2009
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If values are transmitted which are not situated within the value range, they will be ig-
nored. Frequency changes are carried out as soon as the time, mentionned as fre-
quency switch in the Technical Data (chapter 9 on page 36), is reached.
7.2
Heartbeat
The device supports the heartbeat mode. If a heartbeat time > 0 is set in the CAN
menu the status of the device is sent to the identifier 0x700 + node address after the
heartbeat timer has expired.
7.3
Writing on service data objects (SDOs)
To access the object directory the service data object (SDO) is used. A SDO is trans-
mitted with an affirmation i.e. each incoming message is confirmed. The identifiers for
read and write access are:
Read access:
0x600 + Node - Adresse,
Write accessf:
0x580 + Node - Adresse.
The SDO telegramms are written according to CiA standard DS-301. The error codes
which may occur due to an erroneous communication are listed in the following table:
Value
Number
Value range
Annotation
F1
Unsigne
d 16
1000....28000
frequency of wire channel 1
F2
Unsigne
d 16
1000....28000
frequency of wire channel 2
Table 8
CAN: displayed numbers for RPDO
Device status
Code
stopped
0x04
preoperational
0x7f
operational
0x05
Table 9
CAN: Heartbeat device statuses
Name
Number
Meaning
SDO_ABORT_UNSUPPORTED
0x06010000
non-supported access to an object
SDO_ABORT_READONLY
0x06010001
write access to read only object
SDO_ABORT_NOT_EXISTS
0x06020000
object is not implemented
Table 10
CAN: SDO error codes
