Documentation pdcx85

Description

Hardware Configuration

Line 0

• Communication Segment
• Manufacturer specific Segment
• Device Profile Segment

Table of Objects - Line 0

• 1000 - Device Type
• 1001 - Error Register
• 1017 - Producer Heartbeat Time
• 1018 - Identity Object
• 1400 - Receive PDO Communication Parameter 1
• 1401 - Receive PDO Communication Parameter 2
• 1600 - Receive PDO Mapping Parameter 1
• 1601 - Receive PDO Mapping Parameter 2
• 1800 - Transmit PDO Communication Parameter 1
• 1801 - Transmit PDO Communication Parameter 2
• 1A00 - Transmit PDO Mapping Parameter 1
• 1A01 - Transmit PDO Mapping Parameter 2
• 2000 - can_control
• 2001 - can_status
• 2002 - can_command
• 2003 - can_argument
• 2004 - error_id
• 2005 - can_dataid
• 2006 - can_devicedata
• 2007 - can_usrextin

Communication Segment

The device type specifies the kind of device.
The lower 16 bit contain the device profile number
and the upper 16 bit an additional information.

The error register is a field of 8 bits, each for a certain error type.
If an error occurs the bit has to be set.
 
Bit Meaning
0  generic error
1  current
2  voltage
3  temperature
4  communication error (overrun, error state)
5  device profile specific
6  reserved
7  manufacturer specific

The producer heartbeat time defines the cycle 
    time of the heartbeat. If the time is 0 it is not used.
    The time has to be a multiple of 1 msec

This object contains general information about the
device.
Sub-Index 1 contains a unique value allocated each manufacturer.
Sub-Index 2 identifies the manufacturer specific product code (device version).
Sub-Index 3 contains the revision number.
Bit 31-16 is the major revision number and Bit 15-0 the minor revision number.
Sub-Index 4 identifies a manufacturer specific serial number.

It contains the communication parameters of the current PDO
the device is able to receive.
Sub-index 0 contains the number of PDO-parameters implemented.
Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled.
The  transmission mode is defined by sub-index 2.
An inhibit time can be defined on sub-index 3 in 100 us.
At the 5th sub-index can be defined a event time for asynchron pdos.

It contains the communication parameters of the current PDO
the device is able to receive.
Sub-index 0 contains the number of PDO-parameters implemented.
Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled.
The  transmission mode is defined by sub-index 2.
An inhibit time can be defined on sub-index 3 in 100 us.
At the 5th sub-index can be defined a event time for asynchron pdos.

The sub-indices contain the indices, the sub-indices and the
lengths of the mapped sub-indices.

Their structure is as follows:
index (16bit)   sub-index (8bit)   length (8bit)

The sub-indices contain the indices, the sub-indices and the
lengths of the mapped sub-indices.

Their structure is as follows:
index (16bit)   sub-index (8bit)   length (8bit)

It contains the communication parameters of the current PDO
the device is able to transmit.
Sub-index 0 contains the number of PDO-parameters implemented.
Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled.
The transmission mode is defined by sub-index 2.
An inhibit time can be defined on sub-index 3 in 100 us.
At the 5th sub-index can be defined a event time for asynchron pdos.

It contains the communication parameters of the current PDO
the device is able to transmit.
Sub-index 0 contains the number of PDO-parameters implemented.
Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled.
The transmission mode is defined by sub-index 2.
An inhibit time can be defined on sub-index 3 in 100 us.
At the 5th sub-index can be defined a event time for asynchron pdos.

Contains the mapping for the PDOs the device is able to transmit.
The type of the PDO mapping parameter is at index 21h.
The subindex 0h contains the number of valid entires within the mapping record.
This number of entries is also the number of the application variables
which shall be transmitted with the corresponding PDO.
The subindicex from 1h to number of entries contain the information
about the mapped application variables.
These entries describe the PDO contents by their index, subindex and length.
Allthree values are hexa-decimal coded.
The length entry contains the length of the object in bits (1..40h).
This parameter can be used to verify the overall mapping length. It is mandatory.

Contains the mapping for the PDOs the device is able to transmit.
The type of the PDO mapping parameter is at index 21h.
The subindex 0h contains the number of valid entires within the mapping record.
This number of entries is also the number of the application variables
which shall be transmitted with the corresponding PDO.
The subindicex from 1h to number of entries contain the information
about the mapped application variables.
These entries describe the PDO contents by their index, subindex and length.
Allthree values are hexa-decimal coded.
The length entry contains the length of the object in bits (1..40h).
This parameter can be used to verify the overall mapping length. It is mandatory.

Manufacturer Segment

Description:	CANopen Control Word
Function:		Device Control

Bit Meaning:	Bit 0...6	reserved
		Bit 7	Error Reset
		Bit 8	Halt
		Bit 9...15	reserved

Description:	CANopen Status Word 
Function:		Status of Device

Bit Meaning:	Bit 0...2		reserved
		Bit 3		Error
		Bit 4		reserved
		Bit 5		Halt
		Bit 6...7		reserved
		Bit 8		reserved for User Extension
		Bit 9		reserved
		Bit 10		Target reached
		Bit 11...15	reserved

Description:	CANopen Command Specifier

Function:		selects the command of device

Meaning:		01 [hex]	move absolute
		02	move relative
		03	stop motion
		04	continue motion
		05	reference motion
		06	position limit (only for reference motion)
		07	set position to zero
		08	velocity profile
		09	set acceleration
		0A	set start velocity
		0B	set end velocity
		0C	set steps per revolution
		0D	set motor current
		0E	set current reduction
		0F	current limit (only DC-Motor)
		10	---
		11	gear ratio		numerator
		12	gear ratio		denominator
		13	user units		mm/revolution
		14	user units		units in 1/1, 1/10, 1/100 mm
		15	send status
		16	clear error
		17	send actual position

Description:	CANopen Command Argument

Function:		Argument for Command

Description:	Device [Manufakturer] Error Code
		separated in 2 Bytes
		MSB:	error group 1...4
		LSB:	error number
Function:		Info about Error Condition

Meaning of error number [only LSB relevant]:
		00 [hex]	no error
		02	system error
		06	parameter error
		14	power stage defect
		15	over current
		16	problem in hall sensors
		1C	wrong connection on limit switch
		29	unknown command
		2A	wrong parameter
		2C	command overrun
		3C	over temperature
		3D	following error
		3E	under voltage
		44	motion over limit switch
		45	external stop input was active

Description:	CANopen Device Data Identifier

Function:		Identification of data in can_devicedata [index 2006]

Meaning:		1:	data is absolute position
		2:	data is relative   position
		3.....	not yet defined

Description:	Data from Device to Master

Description:	User Data Extension from Devise to Master
		reserved:  for future user extensions