1000: Device Type 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. 1001: Error Register 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 1017: Producer Heartbeat Time 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 1018: Identity Object 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. 1200: Server SDO Parameter 1 The object contains the parameters for the SDOs for which the device is the server. 1400: Receive PDO Communication Parameter 1 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. 1401: Receive PDO Communication Parameter 2 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. 1600: Receive PDO Mapping Parameter 1 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) 1601: Receive PDO Mapping Parameter 2 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) 1800: Transmit PDO Communication Parameter 1 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. 1801: Transmit PDO Communication Parameter 2 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. 1A00: Transmit PDO Mapping Parameter 1 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. 1A01: Transmit PDO Mapping Parameter 2 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. 2000: can_control Description: CANopen Control Word Function: Device Control Bit Meaning: Bit 0...6 reserved Bit 7 Error Reset Bit 8 Halt Bit 9...15 reserved 2001: can_status 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 2002: can_command 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 2003: can_argument Description: CANopen Command Argument Function: Argument for Command 2004: error_id 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 2005: can_dataid 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 2006: can_devicedata Description: Data from Device to Master 2007: can_usrextin Description: User Data Extension from Devise to Master reserved: for future user extensions