Lika AM58K 13/4096CB Series, Руководство пользователя, Страница: 28 / 56

AM58K CANopen®
6.8 Object dictionary
In the following pages the objects implemented are listed and described as
follows:
Index-subindex Object name
[data types, attribute]

Index and subindex are expressed in hexadecimal notation.

Attribute:
ro = read only access
rw = read and write access
Unsigned16 data type:
Process data bytes
byte 4 byte 5
LSByte MSByte
Unsigned32 data type:
Process data bytes
byte 4 byte 5 byte 6 byte 7
LSByte … … MSByte
6.8.1 Standard objects (DS 301)
1000-00 Device type
[Unsigned32, ro]
Default = 0002 0196h = multiturn encoder, DS 406
1001-00 Error register
[Unsigned8, ro]
Should an error occur, bit 0 in this object will be set to "1".
Default = 00h
1003 Pre-defined error field
This object contains the last four errors which generated an emergency
message.
 00 Number of current errors
[Unsigned8, rw]
(write 00h to delete the error history)

01 Last error occurred
[Unsigned32, ro]

02-04 Previous errors occurred [Unsigned32, ro]
MAN AM58K CB E 1.1.odt 28 6 - CANopen® interface