UMDIO128CO V2.0.1 Preliminary Documentation – May be Subject to Change 31-53
Sub-Index 1h
Description Configuration
date
Access RO
PDO Mapping
No
Value Range
UNSIGNED32
Default Value
No
Sub-Index 2h
Description Configuration
time
Access RO
PDO Mapping
No
Value Range
UNSIGNED32
Default Value
No
3.2.11. Object 1029h: Error Behaviour
This object controls the node state that the DIO128 Controller will be set into in case of an error of
the type associated with the sub-index.
A CAN overrun fault is flagged when an RPDO is not received within the expected time period
defined in the “Event Timer” of the associated communication object (see Section 3.2.12 for more
information.) If a heartbeat message is not received as expected (see Section 3.2.8), a Heartbeat
Error is flagged. See Sections 1.3 and 3.2.3 for more information about how the DIO128 reacts to
errors.
For all sub-indexes, the following definitions hold true:
0 = Pre-Operational (node reverts to a pre-operational state when this fault is detected)
1 = No State Change (node remains in the same state it was in when the fault occurred)
2 = Stopped
(node goes into stopped mode when the fault occurs)
Object Description
Index 1029h
Name Error
Behaviour
Object Type
ARRAY
Data Type
UNSIGNED8
Entry Description
Sub-Index 0h
Description Number
of
entries
Access RO
PDO Mapping
No
Value Range
5
Default Value
5
