Isel IMD1, Manual

Page: 78 / 117

CanOpen protocol
Positioning module UVE8112, IMD10
Object Directory
The object directory contains a meters iables of the module that can be read or written
via the Can network. The entries in the directory are characterised by a 16-bit index and a 8-bit sub-
de .
C ca arameter
The range of 1000h to 1FFFh is reserved for the communication parameters of a CanOpen device.
e mm f th du ftwa s s ctured acco
3 V4 llowing, s ted and described that are used for this and that
control the communications behaviour.
General communications parameters
Dev
Index Sub Name Type Attrib Map Default
value
Meaning
ll para and var
in x
ommuni tions p
Th co unications part o e drive mo le so re i tru rding to the specification
DS 01 .0. In the fo all parameter are lis
ice type
1000 00 Device type ed 32 92 Unsign RO N 0x000201 Device type
The device type indicates which device profile is used and which kind of device this is (e.g. servo
Error register
Index Sub Name Type Attrib Map ult
lue
Meaning
drive = 02
h
). Bit 0-15: device profile 402 = 192
h.
Defa
va
1001 00 Error register 0 Unsigned 8 RO Y 0x0 Error register
The or a r ica of an error that occurred. It is also sent as part of
of the error is found in the error memory
00
err register contains ough classif tion
the
(1 emergency message. A more precise designation
3
h
).
general
error
Current Voltage -
Commu-
nication
Dev. prof.-
specific
- -
it 7 1 2 3 4 5 6 0
Manufacturer-specific status register
ub ttrib ap efault
lue
B
Index S Name Type A M D Meaning
va
1002 00 Manufacturer-
specific status
register
RO Y 0x00 Manufacturer-specific Unsigned 32
status register
Is c ntl urre y not used.
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