UK
Output Module CR2011
15
11.2 Communication Profile Area; index 1000 to 1FFF
Index S-Idx Designation
Type
Default
Description
1000
0
Device Type
u32, ro 0xF0191
Profile 401; outputs, binary and analog
1001
0
Error Register u8, ro
0x00
Bit-coded to profile 301, the following is
supported:
0b 0000 0000 no error
0b 0000 0001 generic error
0b 0001 0000 communication error
0b 1000 0000 manufacturer specific
1003
0
Pre-defined
Error field
u8, ro
0x04
An error list with 4 entries is supported�
1003
1 - 4
Error History
u32, ro 0x00
Error occured, coded according to the EMCY
list, the last error is in the sub-index 1�
1004
0
Number of
PDOs
u32, ro 0x20001
1 transmit PDO, 2 receive PDOs
1004
1
Number of
synch� PDOs
u32, ro 0x20001
All PDOs can be transmitted synchronously�
1004
2
Number of
asynch� PDOs u32, ro 0x20001
All PDOs can be transmitted asynchronously�
1005
0
COB ID
synch objekt
u32, rw 0x80000080
- Module expects synch message (bit 31 = 1)
- Module generates no synch message (bit 30
= 0)
- 11-bit identifier system (bit 29 = 0)
- Identifier of the synch message
1006
0
Communic�
Cycle
u32, rw 0x00000000
Max. time between 2 synch objects in μs.
Useful resolution = 1ms�
1008
0
Device Name
str, ro
CR2012
1009
0
HW version
str, ro
x�x
Hardware version
100A
0
SW version
str, ro
x�x
Software version
100B
0
Node ID
u32, ro
Only for information
100C 0
Guard Time
u16, rw 0x0000
Time in ms�
Within this time the output module expects a
"node guarding" of the network master� If the
value 0 is entered here, this function is not
supported�
100D 0
Life Time
Factor
u8, rw
0x00
If no "node guarding" is received for "guard
time" x "life time", the output module switches
the outputs off� The CANopen state is not
changed� The result from "guard time" x "life
time" must be between 0 and 65535�
100E
0
COB ID
Guarding
u32, rw 0x00000700
+Node ID
CAN identifier of the node guard object
100F
0
Number of
SDOs
Not implemented, only the default SDO is
supported�