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17
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User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3
The user can customise the device outputs by changing the TPDO mapping parame
For example, 1
st
two bytes are the device temperature, the 2
nd
two bytes are the inclination output (Table 7).
Byte3
Byte2
Byte1
Byte0
23
h
82
h
00
h
1A
h
Inclination output: 2382
h
= 9090
d
= 90.9°
Device temperature: 001A
h
= 26
d
°C
Table 7 - Customised TPDO message
6.7.
Boot-up procedure
When the device is powered on, it automatically enters NMT Initialisation state. In this state, the device will be
initialised with the last stored parameters of the manufacturer-specific profile area and of the standardized device
profile area. When initialisation is complete, a bootup message 00
h
will be sent with the heartbeat (700
h
+ Node ID).
If an error is detected during the bootup, an emergency message with the error information will be sent.
After that, the sensor will switch to
either “Operational” (default)
or “Pre
-
operational”
mode, depending on the
value of object 1F80
h
.
6.8.
Emergency message
When the device detects an internal error, an emergency object (80
h
+Node ID) with an 8-bytes message is
transmitted. The error code is inserted at the location of
object 1003h (pre-defined error field)
, and the device
enters the error state which is defined in Object 1029
h
Error Behaviour (default: NMT pre-operational state).
The first 3 bytes indicate error code specified in CiA301 and the error register specified in
remaining 5 bytes indicate the manufacturer-specific error specified in
Object 1002
h
.
Byte7 Byte6 Byte5 Byte4 Byte3 Byte2
Byte1
Byte0
Manufacturer-specific error (1002
h
)
Error register (1001
h
)
EMCY error code (CiA301)
00 00 00 00 00
h
=
no error
00 00 00 00 01
h
=
X-axis Cross-Tilt Error
00 00 00 00 02
h
=
Y axis Cross-Tilt Error
00 00 00 00 08
h
= EEPROM error
More:
8.1.2 Object 1002h Manufacturer status register
00
h
=
no error
01
h
= Generic error
05
h
= Voltage error
81
h
= Manufacturer specific error
More:
8.1.1 Object 1001h Error register
00 00
h
=
No error. Always sent at start-up
10 xx
h
= Generic error
50 00
h
= Voltage error
50 10
h
= Self-test error
50 30
h
= Error during sensor initialization
60 00
h
= Watchdog error
60 00
h
= Error handler activated
62 00
h
= Device software error
80 00
h
= Sent at every change of the
manufacturer status register
81 xx
h
= CANopen stack message
82 xx
h
= CANopen stack message
FF 20
h
= EEPROM error
Table 8
–
format EMCY message
Examples:
00 00 00 00 01 05 50 00
h
—
Voltage error detected during initialization
00 00 00 00 01 81 80 00
h
—
Cross-tilt error on X axis
