SICK TMM61 Series, Operating Instructions Manual

Page: 34 / 44

Index Subindex Parameter Data type Access Default value Storage
5 Mapping entry 5 UNS32 rw 0 x
6 Mapping entry 6 UNS32 rw 0 x
7 Mapping entry 7 UNS32 rw 0 x
8 Mapping entry 8 UNS32 rw 0 x
1A01h Transmit PDO2 mapping parameters (TMS/TMM88D only)
0 Highest subindex supported UNS8 ro 2
1 Mapping entry 1 UNS32 rw 0x31000110 x
2 Mapping entry 2 UNS32 rw 0x31000210 x
3 Mapping entry 3 UNS32 rw 0 x
4 Mapping entry 4 UNS32 rw 0 x
5 Mapping entry 5 UNS32 rw 0 x
6 Mapping entry 6 UNS32 rw 0 x
7 Mapping entry 7 UNS32 rw 0 x
8 Mapping entry 8 UNS32 rw 0 x
1F51h Program download - control
0 Highest subindex supported UNS8 ro 3
1 Firmware range UNS8 rw 1
2 Range for configuration 1
(access for manufacturer only) UNS8 rw 1
3 Range for configuration 2
(access for manufacturer only) UNS8 rw 1
9.7.1.1 Error register (1001h)
The error register indicates the general error status of the device. Each bit stands for an
error group. If a bit is set (= 1), at least one error in this group is currently active. The
content of this register is transmitted in every EMCY message. The following error
groups may be encountered:
Table 37: Error register (1001h)
Error register (1001h)
Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
Manufac‐
turer-spe‐
cific error Accuracy
Warning
Profile-spe‐
cific error
Communi‐
cation
error
Not used
At least
one error
active
If the device is in error status (at least one error active), this is indicated by bit 0 being
set. In the event of a communication error (overrun of send/receive buffer, guarding
error or CAN controller in passive/busoff mode), bit 4 is set. A profile-specific error (sen‐
sor error) is indicated by bit 5. Bit 7 signals a manufacturer-specific error (EEPROM
error).
9.7.1.2 Manufacturer status register (1002h)
This register indicates the current status of all detectable errors. Each bit represents a
specific error. If a bit is set (= 1), this error is currently active. The lower-value 16 bits of
this register (bits 15 to 0) are transmitted in the first two bits of the manufacturer-spe‐
cific part of each EMCY message as well as in the additional information field (bits 31
to 16) of the predefined error field 1003h.
9
CANOPEN INTERFACE
34 OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK
Subject to change without notice