Technical Manual N5 (CANopen)
8 CANopen
Error Code
Description
06090011
h
subindex not existing: An attempt was made to access an invalid subindex of an
object; the index, on the other hand, would exist.
06090031
h
value too great: Some objects are subject to restrictions in the size of the value; in
this case, an attempt was made to write an excessively large value to the object.
For example, the "Pre-defined error field: Number of errors" object for 1003
:00
may only be set to the value "0"; all other numerical values result in this error.
06090032
h
value too small: Some objects are subject to restrictions in the size of the value. In
this case, an attempt was made to write a value that is too small to the object.
08000000
h
general error: General error that does not fit in any other category.
08000022
h
data cannot be read or stored in this state: The parameters of the PDOs may
only be changed in the Stopped or "Pre-Operational" state. Write access of
objects 1400
h
to 1407
h
, 1600
h
to 1607
h
, 1800
h
to 1807
h
and 1A00
h
to 1A07
h
is not
permissible in the "Operational" state.
8.2.5 Process Data Object (PDO)
A message that only contains process data is referred to as a "Process Data Object" (PDO). The
PDO is intended for data that need to be exchanged cyclically. The idea behind a PDO message is to
remove all additional information (index, subindex and data length) from a CAN message and to only
fill the CAN message with data. The source and target information for the PDO are stored separately in
the so-called PDO mapping.
The controller supports a total of eight independent PDO mappings; each corresponding PDO
message can have a maximum of eight bytes (= 64 bits) of user data. It is thereby possible to, for
example, transfer two UNSIGNED32 values or one UNSIGNED32 and one UNSIGNED08; the
message does not need to use all eight data bytes. The PDOs differ yet again in the configuration
in the send and receive configuration. The receive configuration describes the processing for PDO
messages that are sent, and the send configuration describes the PDO messages that are to be sent.
RX configuration
To configure an RX-PDO, three object categories in the object dictionary must be taken into account:
1. The objects that describe the functionality of the mapping.
2. The objects that describe the content of the mapping.
3. The objects that are to receive the received data.
Configuration of the functionality (communication parameter)
The configuration of the first mapping is stored in the subindices of object 1400
h
. The second mapping
is configured in 1401
h
and so on. In the following, we refer to 140N
h
. Here, the configuration affects the
COB-ID of the PDO message and the transfer type.
Objects 140N
h
have only three subindices:
•
Subindex 0 (max. subindex): Total number of subindices
•
Subindex 1 (COB-ID): The COB-ID is stored here. For PDO mappings 1–4 (1600
h
–1603
h
), the
CAN-ID is fixed depending on the node-ID and only the valid bit (bit 31) can be set in the COB-ID.
From 1604
h
–1607
h
, the CAN-ID can be set independently (with the restriction that it not be used
by other services, see table at the start of chapter CANopen services) as can the valid bit. The
change of a COB-ID does not take effect until after the controller or communication is restarted (see
Network Management (NMT)).
Mapping
COB-ID
1600
h
200
h
+ Node-ID
Version: 2.0.1 / FIR-v1650
114
