Device Description HG G-71915ZA | English, Revision 01 | Date: 09.09.2021
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Interfaces – Chapter 10
10.3.3.8 Heartbeat
The device supports the heartbeat mode. If in the CANopen® menu (see section
9.2.3.2 on page 35) a heartbeat time > 0 is set, with each expiration of the heartbeat
timer the device state is sent under the identifier 0x700 + node address.
10.3.3.9 Description of the Service Data Objects (SDOs)
The service data object is used for accessing the object directory. An SDO is trans
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mitted acknowledged, i.e. each reception of a message is acknowledged. The iden
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tifiers for read and write access are:
The SDO telegrams are described in the CiA standard DS-301. The error codes due
to faulty communication are listed in the following table:
10.3.3.10 Object Directory
All objects of the antenna are listed in the CANopen® Object Index. Each entry is a
16-bit index. Sub components are identified by an 8-bit subindex. RO indicates en
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tries that are read only.
Communication parameters are marked by a C.
Manufacture parameters are marked by an M.
The object directory is divided into the following sections:
Table 21
CANopen®: Codes of the heartbeat modes
Device state
Code
stopped
0x04
preoperational
0x7f
operational
0x05
Table 22
CANopen®: Identifier for read and write access
Read access
0x600 + node address
Write access
0x580 + node address
Table 23
CANopen@: Possible SDO error codes
Name
Number
Meaning
SDO_ABORT_UNSUPPORTED 0x06010000 Unsupported access to an object
SDO_ABORT_NOT_EXISTS
0x06020000 Object not implemented
SDO_ABORT_READONLY
0x06010002 Write access to a readonly object
SDO_ABORT_SIGNATURE
0x08000020 When saving or loading parame
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ters, the "save" or "load" signature
was not used.
SDO_ABORT_PARA_VALUE
0x06090030 Parameter value range exceeded
SDO_ABORT_PARA_TO_HIGH 0x06090031 Parameter value too high
