Device Description HG G-19603ZA | English, Revision 03 | Date: 31.03.2021
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CANopen® Interface – Chapter 8
8.1.2 Reception Object
Length: 1 Byte
Explanations for Command:
8.2 Heartbeat
The device supports the heartbeat mode. If a heartbeat time > 0 is entered in the
CAN menu with each end of the heartbeat timer, the device mode is transmitted via
the identifier 0x700 + node address.
8.3 Description of the Service Data Objects (SDOs)
For accessing the object directory, a SDO is used. It is transferred with a confirma
-
tion, that means that each reception is confirmed with a message. The identifiers for
read and write access are:
Reading access:
0x600 + Node - Adresse,
Writing access:
0x580 + Node - Adresse.
6
–
7
–
8
–
Table 16
CANopen®: Structure reception box
Byte
Data
1
Command, see Table 17
Table 17
CANopen®: Structure of a command
Bit
Meaning
1
left Track
2
right Track
3
–
4
5
6
7
8
Table 18
CANopen®: Heartbeat device mode
Device mode
Code
stopped
0x04
preoperational
0x7f
operational
0x05
Table 15
CANopen®: Structure of the system status (part 2 of 2)
Status Bit
Description
