gefran RK-5 C, Руководство пользователя, Страница: 16 / 35

16 85201A_RK5C_User Manual_02-2017_ENG
4.2 SDO OBJECTS
1000h – Device type
This object describes the type of the device and its functionality. It is composed of a 16-bit field that describes the device
profile or the application profile that is used and a second 16-bit field, which gives additional information about optional
functionality of the device.
The structure of the device parameter is represented in the following figure.
31 16 15 0
Additional Information Device Profile Number
Figure 30 - Structure of the Device type parameter
Additional information = 000Ah
Device Profile Number = 0196h
Object description
Index Name
1000h Device type
Entry description
SUB Index Name Access Data Type Value Range Default
0 Device type RO Unsigned32 000A0196h 000A0196h
1001h – Error register
This object provides error information. The CANopen device maps internal errors into this object. It is a part of an
emergency object
For the GEFRAN RK5C CANopen device two types of error conditions are defined: Device hardware error and Data
set error.
The “Data Set” type error occurs when a mismatch between the stored checksum and the calculated checksum during
a reading operation from the non volatile memory of the device is detected. The checksum is verified during the start-up
phase after power-on, during initialization state, after a reset communication or reset device NMT command, and after a
SDO write in object 1011h (load default parameters). This error can only be cleared by a hardware device reset.
The “Device Hardware” type error is set when the microcontroller detects anomalies during the sensor low-level mea-
suring routines. The error register contains one of the error codes described in the following table.
Error code Name
00h No error
01h Data set error
81h
Device hardware error or
Device hardware error and Data set error
Table 3 - Error codes in the Error register
Object description
Index Name
1001h Error register
Entry description
SUB Index Name Access Data Type Value Range Default
0 Error register RO Unsigned8 00h,01h,81h 00h