Ropex RESISTRON RES-5009, User Manual, Page: 69 / 98

CANopen
Version 1 RES-5009 Page 69
10.7.9 PreDefined Error Field 1003
h
The RESISTRON
®
Temperature Controller RES-5009 supports the CANopen PreDefiend Error Field Objekt
1003h with up to 16 entries. The 32 bit value is a combination of ROPEX error number (object 4203
h
,
 section 9.15 "Error messages" on page 49) and CANopen error code (  CiA 301 specification).
When generating emergency messages (  section 10.9 "Emergency messages" on page 70) the errors are auto-
matically entered into the PreDefined error field. Sub index 1 always contains the most recently detected error,
followed by the older errors. If there are more than 16 errors, the oldest errors will be overwritten. By writing the
value 0 to sub index 0, the list can be deleted.
10.8 PDO mapping
The RESISTRON
®
Temperature Controller RES-5009 supports one Rx and one Tx PDO each. With this cyclical
communication, the controller can be controlled or the current status can be determined. PDO mapping is fixed
and cannot be changed. The PDO communication parameters can be adjusted as required by means of the CAN-
open objects 1400
h
/00 or 1800
h
/00 (  CiA 301 specification). The default values can be taken from the EDS file
(  section 10.1 "Electronic Data Sheet (EDS)" on page 56).
As generally intended by CANopen, the Rx and Tx PDOs are only active in the “Operational” state.
10.8.1 Rx PDO
The Rx PDO (CANopen master  RESISTRON
®
Temperature Controller RES-5009; COB ID: 0x200 + NODE ID)
contains the following mapped elements:
By default, the transmission type mode “event driven” is set for the Rx PDO (object 1400
h
/02). This means that
the contained values are processed immediately upon receipt of the PDOs. If necessary, the transmission type
can be changed to “synchronous”.
The event timer (object 1400
h
/05) is active by default so that an emergency message is generated when an RPDO
timeout is detected.
ROPEX error number
Name: 0 0 0 0 0 0 A9 A8 A7 A6 A5 A4 A3 A2 A1 A0
Bit no.: 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
CANopen error code
Name: E15 E14 E13 E12 E11 E10 E9 E8 E7 E6 E5 E4 E3 E2 E1 E0
Bit no.: 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
CanByte 0 1 2 3 4 5
Object Setpoint 0 Control Setpoint 1
Index
Sub index
4100
h
01
h
4101
h
00
h
4100
h
02
h