coval LEMCOM Series - 2013 H - Gripping Cycle Counter; 2014 H - Part Lost Counter

LEMCOM CANopen® – User manual Detailed description of CANopen objects
COVAL – LMCOP-EN-A-1155UM0068 32/49
12.10 2013h – Gripping cycle counter
The number of part gripping cycles can be accessed using the following SDO command:
Client (master)  server (LEMCOM)
CAN-ID
(600h+ID)
620h
Command
40h
Object L
13h
Object H
20h
Subindex
Module no.+1
Byte 0
00h
Byte 1
00h
Byte 2
00h
Byte 3
00h
The subindex is used to define the module to query (from 1 to 16):
- Subindex = 0x01  request for counter value on master module (address #0)
- Subindex = 0x02  request for counter value on secondary module at address #1
- …
- Subindex = 0x10  request for counter value on secondary module at address #15
The reply is as follows:
Server (LEMCOM)  Client (master)
CAN-ID
(580h+ID)
5A0h
Command
43h
Object L
13h
Object H
20h
Subindex
Module no.+1
Byte 0
00h
Byte 1
00h
Byte 2
00h
Byte 3
00h
The number of part gripping cycles is provided in hexadecimal format by the following:
Byte 3 – Byte 2 – Byte 1 – Byte 0
12.11 2014h – Part lost counter
The counter for the number of parts lost can be accessed using the following SDO command:
Client (master)  server (LEMCOM)
CAN-ID
(600h+ID)
620h
Command
40h
Object L
14h
Object H
20h
Subindex
Module no.+1
Byte 0
00h
Byte 1
00h
Byte 2
00h
Byte 3
00h
The subindex is used to define the module to query (from 1 to 16):
- Subindex = 0x01  request for counter value on master module (address #0)
- …
- Subindex = 0x10  request for counter value on secondary module at address #15
The reply is as follows:
Server (LEMCOM)  Client (master)
CAN-ID
(580h+ID)
5A0h
Command
43h
Object L
14h
Object H
20h
Subindex
Module no.+1
Byte 0
00h
Byte 1
00h
Byte 2
00h
Byte 3
00h
The number of parts lost is provided in hexadecimal format by the following:
Byte 3 – Byte 2 – Byte 1 – Byte 0