Lenze L-force Communication ModemCAN EMF2181IB, Communications Manual, Page: 56 / 83

Lenze−Codestellen und CANopen−Objekte
Description of the CANopen objects implemented
8
l
56
EDSMF2181IB EN 3.0
8.3 Description of the CANopen objects implemented
I−1000
hex
:
Device type
Index [
hex
] Subindex Name Data type Value range Authorisatio
n
I−1000 0 Device type U32 0 ... 2
32
− 1 ro
The object I−1000 specifies the device profile for this device. It is also possible to include
additional information here that is defined in the device profile itself. If no specific device
profile is used, the content is "0x0000".
Data telegram assignment
Byte 8 Byte 7 Byte 6 Byte 5
U32
Device profile number Additional information
I−1001
hex
:
Error register
Reading the error register
Index [
hex
] Subindex Name Data type Value range Rights
I−1001 0 Error register U8 0...255 ro
Error status for the following bit assignment in the data byte (U8):
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Error status
0 0 0 0 0 0 0 0 No error
0 0 0 0 0 0 0 1 Error in the
communication module
0 0 0 1 0 0 0 1 Communication error
I−1017
hex
:
Producer heartbeat time
Index [
hex
] Subindex Name Data type Value range Rights
I−1017 − Producer heartbeat time U32 U 16 rw
The heartbeat message is sent cyclically by the heartbeat generator (producer) to one or
more recipients (consumers).
After configuring the heartbeat producer time, the heartbeat protocol starts at the
transition from the NMT state INITIALISATION to the NMT state PREOPERATIONAL (if
predefined value > 0).
)
Note!
Unlike "node / life guarding" monitoring, the heartbeat protocol does not
contain a Remote Transmit Request" (RTR).
It is therefore not necessary for the recipient to answer after a heartbeat.