Curtis 1352 - Communication Profile Objects

Curtis 1352 eXm Manual, R ev. D
21
COMMUNICATION PROFILE OBJECTS
The objects found in the 1000h CAN Object address range are shown below
in Table 2. Explanations follow the table.
Table 2 Communication Objects
range
name access index sub-index CAN value description
Device Type RO 1000h 00h 00000000h Predened type of CAN module
(I/O)
Error Register RO 1001h 00h 1 or 0 = 1 if an there is an error
= 0 if there are no errors
Manufacturer’s Status RO 1002h 00h 4 bytes The value of the Status Register
Register
Fault Log RO 1003h 00h Array Contains an array of 16 fault code
RW 10h and time stamps as reported by the
Emergency Message. See Section 6.
Node ID RW 100Bh 00h 1 – 127 Node ID of this eXm.
Must cycle power or send an NMT
Reset eXm or NMT Reset CAN
for new ID to take full effect.
Store Parameters RO 1010h 00h 1 Length of this object.
RW 01h 0 – 3 Index to read and write special
commands.
Restore Default RO 1011h 00h 1 Length of this object.
Parameters
RW 01h 0 – 2 Index to read and write special
commands.
Emergency COB ID RO 1014h 00h 00000080h – 11-bit Identier of the Emergency
000000FFh Message. Only the lowest 11 bits are
valid. All other bits must be 0.
Emergency Message RW 1015h 00h 0 – 1 Sets the minimum time that must
Inhibit Time 0 – 1000 elapse before another Emergency
Resolution = 4 Message can be sent by the eXm.
Setting the parameter to 0 disables
the Emergency Message.
Heartbeat Rate RW 1017h 00h 0 – 1 s Sets the cyclic repetition rate of the
0 – 1000 Heartbeat Message.
Resolution = 4 A setting of 0 disables the Heartbeat.
Identity Object RO 1018h 00h 6 Length of this structure =
6 sub-indexes
01h 00004349h Curtis ID as dened by CiA
02h 05480FA1h Product Code
05481771h 2 upper bytes = 1352
2 lower bytes = model number,
-4001 or -6001
03h 01030204h Format is major version in upper 2
bytes and minor version in lower 2
bytes. The bytes are split upper byte
for HW and lower byte for SW;
example: HW version 1.2 with SW
version 3.4 = 01030204h
04h 0 to 999999 Serial Number up to 99,999
05h 1 to 99365 Date Code up to 99, Dec 31
06h A to Z ASCII code of the manufacturer’s
41h – 5Ah location.
5 — SDO: Communication Profile Objects