196 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
5.6 Expansion Mod. MAC00-FC2/FC4/FC41
5.6.18 The DS301 specified Communications objects are:
The different communications objects are shown in table below, to get the default value
in CanOpenExplorer, press on R on the keyboard, and the actual value will be shown.
Name
Index
(hex)
Sub
Index
Data Type Read
only
Default Description
Device type 1000h UNSIGNED32 X 0x20192h
Contains information about the
device type. See note at top of next
page. Mandatory.
Error
Register
1001h UNSIGNED8 X
This is the mapping error register,
and
it is part of the emergency object.
If some of the sub index are high, an
error has occured. See also section
Object 2011h – Subindex 03h Motor
status (U8), page 201
0 Generic error. Mandatory
1 Current (not supported)
2 Voltage (not supported)
3 Temperature (not supported)
4
Communication (Overrun) (not support-
ed)
5 Device profile specific (not supported)
6 Reserved (not supported)
7 Manufactor specific
Reservation
register
1004h
Reservation of PDOs
0 X Reserved numbers of PDOs
1 X Reserved numbers of syncPDOs
2 X Reserved numbers of asyncPDOs
Manufactur-
er device
name
1008h VISIBLE
STRING
X JVL A/S
Manufactur-
er hardware
version
1009h VISIBLE
STRING
X 1.0
Manufactur-
er
software
version
100Ah VISIBLE
STRING
X
Example: Version x.x
Guard time 100Ch UNSIGNED16 Inform about the Guard time in milli-
seconds. Is only mandatory if the
module does not support heartbeat
Life time
factor
100Dh UNSIGNED8 Is the factor, that guard time is multi-
plicered with, to give the life time for
the node quarding protocol
Heartbeat
time
1017h UNSIGNED8 If the Heartbeat timer is not 0,
Heartbeat is used.
Identity
object
1018h IDENTITY X Contain general information about
the module
0 1..4 X 4h Number of entries. Mandatory
1 UNSIGNED32 X 0x0117h Vendor ID, contains a unique value
allocated to each manufactor. 117h
is JVLs vendor ID. Mandatory.
2 UNSIGNED32 X 0x0100h Product Code, identifies a specific
device version. The MAC00-FCxx
has the product code 100h
3 UNSIGNED32 X 0x20020h Revision number.
4 UNSIGNED32 X Serial number
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