Operating Instructions
Chapter
6
Flexi Soft Gateways
8012664/XB29/2013-06-11
© SICK AG • Industrial Safety Systems • Germany • All rights reserved
147
Subject to change without notice
Fieldbus gateways
SDO 1001: Error register
The error register (SINT) contains an error bit indicating whether an error is present. If bit 0
is set to 1, a “generic error” has been detected.
SDO 1003: Error list (error history)
SDO 1003 is an array containing the last 10 error codes that have been reported by the
gateway via emergency message. Array index 0 contains the number of error codes that
have been recorded in SDO 1003.
A new error will be recorded in index 1, while older errors will be renumbered (increased
by 1). The array index can be overwritten externally with a 0, which will clear the array
completely.
Not all errors that are reported via emergency message will be recorded in SDO 1003,
but only the errors listed in Tab. 105.
Entries in SDO 1003 are UDINT and normally divided in 16 bit error code and 16 bit
additional information. In case of an emergency, the module status diagnostics (4 byte)
are entered here.
SDO 1005: COB ID SYNC
SDO 1005 contains the COB ID of the Sync object. As a default this value is 80h, but it can
be changed.
When you change the COB ID of the Sync object, keep in mind that the new ID must not be
assigned to another communication object already.
SDO 1008: Device name
SD0 1008 contains a device name (VISIBLE STRING).
This SDO can not be read using a simple “SDO upload expedited”. Instead, the “Upload
SDO segment protocol” (client command specifier ccs = 3) must be used as described in
the CANopen specification DS 301.
SDO 1009: Hardware version
SDO 1009 contains the current hardware version of the device (VISIBLE STRING).
This SDO can not be read using a simple “SDO upload expedited”. Instead, the “Upload
SDO segment protocol” (client command specifier ccs = 3) must be used as described in
the CANopen specification DS 301.
SDO 100A: Software version
SDO 100A contains the current software version of the device (VISIBLE STRING).
This SDO can not be read using a simple “SDO upload expedited”. Instead, the “Upload
SDO segment protocol” (client command specifier ccs = 3) must be used as described in
the CANopen specification DS 301.
SDO 100C: Guard time
The product of guard time (UINT) and life time factor (SINT) results in the life guarding
time.
Life guarding time (ms) = guard time (ms) × life time factor
The master must send a node guarding message to the slave at least once during the life
guarding time. If the life guarding time is exceeded (life-guarding error), the gateway ge-
nerates a cable break error and sets all process data coming from the network to 0; the
NS LED will start flashing
Red.
Life guarding is activated in the slave by the first node guarding message if the set life
guarding time is not 0. If after activation of the life guarding the guard time or the life time
factor is set to 0, life guarding is deactivated. See also section 6.2.11 “Guarding protocols”
on page 153.
Notes
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