Ropex RESISTRON RES-5009, User Manual, Page: 70 / 98

CANopen
Page 70 RES-5009 Version 1
10.8.2 Tx PDO
The Tx PDO (RESISTRON
®
Temperature Controller RES-5009   master ; COB ID: 0x180 +
NODE ID) contains the following mapped elements:
By default, the transmission type mode “event driven” is set for the Tx PDO (object 1800
h
/02). This means that the
PDO is sent in a defined time grid. The grid is specified by the event timer value and can be adapted to suit the
project (object 1800
h
/05). If necessary, the transmission type can be changed to “synchronous”.
Depending on the type and number of CAN bus participants, it is necessary to adjust the Tx PDO timing when
using lower CAN baud rates. This avoids excessive CAN bus load in case of many bus participants. If required,
the Tx PDO event timer value can be increased. The transmission grid increases, and the bus load decreases.
10.9 Emergency messages
The RESISTRON
®
Temperature Controller RES-5009 sends CANopen emergency messages when errors are
detected. The first three bytes of the CAN message contain the error code and the error register according to the
 CiA 301 specification. The last five bytes are manufacturer-specific.
CanByte 0 1 2 3 4 5 6 7
Object Actual temperature Status Error number Start temperature
Index
Sub index
4200
h
00
h
4203
h
00
h
4204
h
00
h
4201
h
00
h
Byte Content Description
0
CANopen specific error
code
 CiA 301 specification
1
2 CANopen error register
 CiA 301 specification
Current value from CANopen object 1001
h
3
Manufacturer specific error
code
CAN error status
0 CAN controller is in stopped mode
1 CAN controller is in sleep mode
2 CAN controller is active
3
CAN controller is active, warning level of error counters has
been reached
4 CAN controller is in passive mode
5 CAN controller is in bus off state
10 General error of CAN hardware
4
Manufacturer specific error
code
CAN Receive Error Counter
5
Manufacturer specific error
code
CAN Transmit Error Counter