Systec Electronic CANopen ChipF40, Системное руководство

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© SYS TEC electronic GmbH 2010 L-1062e_9
For networked devices operating in a network with or without DBT
capabilities, it is necessary to reserve the identifier for “minimum
devices“ in the database of the DBT-Master.
Extended Boot-up is based on CAL specifications. The device states
Pre-Operational and Initializing have been implemented in addition.
7.10 Object Dictionary Entries
Beside the parameters for the PDOs, a number of additional entries in
the Object Dictionary belong to the data that specify a CANopen
device. The communication profile contains such information as:
•
the device type at index [1000];
•
the error register at index [1001];
•
the Pre-Defined Error Field at [1003];
•
the identifier of the SYNC message at [1005];
•
the device name at [1008],
•
the hardware and software version of the manufacturer at [1009]
and [100A];
•
the node address at [100B];
•
the parameter Guard-Time at [100C] and
•
the parameter Life-Time-Factor at [100D].
In the device type, information about the implemented device profile
and the capabilities of the device is encoded. The error register gives
information about internal errors of the device; the pre-defined error
field provides an error log. In case the Guard-Time and
Life-Time-Factor are unequal to Zero, the multiplied values result in
the Life Time of the CANopen device for the node monitoring
protocol.