Device Description HG G-7335xZB | English, Revision 06 | Date: 30.04.2020
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CAN Interface (HG G-73350) – Chapter 8
8.3 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.
8.4 Writing on Service Data Objects (SDOs)
To access the object directory the service data object (SDO) is used. A SDO
is transmitted with an affirmation i.e. each incoming message is confirmed.
The identifiers for read and write access are:
Read access: 0x600 + Node - Address
Write access:0x580 + Node - Address
The SDO telegrams are written according to CiA standard DS-301. The error codes
which may occur due to an erroneous communication are listed in the following ta
-
ble:
8.5 Object Directory
In the CANopen@ object directory all objects being important for the device are en
-
tered. Each entry is marked by a 16 bit index. Sub components are marked by a 8 bit
subindex. Read only entries are marked by RO.
Communication parameters are marked by
C
in the overview table, manufacture pa
-
rameters by
M
.
Table 23
CAN: Heartbeat device statuses
Device status
Code
stopped
0x04
pre-operational
0x7f
operational
0x05
Table 24
CAN: SDO error codes
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
SDO_ABORT_TRANSFER
0x08000020 During saving/loading of parame
-
ters the signature “load“ or “save“
has not been used. When calling
calibration. signature “cali“ has
not been used.
SDO_ABORT_PARA_VALUE
0x06090030 parameter value range exceeded
SDO_ABORT_PARA_TO_HIGH 0x06090031 parameter value too high
