Device Description HG G-71912-A | English, Revision 03 | Date: 28.03.2018
22
Chapter 5 – Components and Operation
Heartbeat
The device supports the heartbeat mode. If a heartbeat time smaller than 0 is entered and
with each end of the heartbeat time, the device mode and the identifier 0x700 + node ad-
dress are sent.
Node-Guarding
If a the heartbeat time is set to 0, the device answers to a remote-transmission-request of
the identifier (0x700 + node address) with the system status (see table above) and the high-
est bit changes. The device does not control the regular input of the RTR frames.
Description Of The Service Data Object (SDO)
For accessing the object directory, a SDO is used. It is transferred with a confirmation, that
means that each reception is confirmed with a message. The identifiers for read and write
access are:
Reading Access 0x600 + node address
Writing Access
0x580 + node address
The SDO telegrams are described in the CiA
®
norm DS-301. The error codes caused by a
erroneous communication are listed in the following table:
Object Directory
In the CANopen
®
directory all relevant objects for the device were entered. Each entry is
marked by a 16 bit index. Components are marked by a 8 bit subindex. Read only entries are
marked with RO, write only entries with WO.
•
Communication parameters are marked with
C
in the overview.
•
Manufacture parameters are marked with
M
in the overview.
The object directory is divided in the following sections:
System Status
Code
stopped
0x04
preoperational
0x7f
operational
0x05
Table 11
Heartbeat
Name
Number
Meaning
SDO_ABORT_UNSUPPORTED 0x06010000 Non-supported access to an object
SDO_ABORT_NOT_EXISTS
0x06020000 Object is not implemented
SDO_ABORT_READONLY
0x06010002 Writing access to Read only object
SDO_ABORT_SIGNATURE
0x08000020 At saving of the parameters the signature "save" has not
been used
During reference transponder test the signature "t" has
not been used
During reference transponder setup the signature "s"
has not been used
SDO_ABORT_PARA_VALUE
0x06090030 Value range of parameters exceeded
SDO_ABORT_PARA_TO_HIGH 0x06090031 Value of parameter too high
Table 12
Error codes - SDO telegrams
