20.5.4.6 Process Data Object (PDO) 50
Transmission modes 51
Trigger modes 51
20.5.4.7 Nodeguard 52
20.5.4.8 Heartbeat 53
20.6 CANopen Drive Profile 54
20.6.1 CANopen Emergency Messages and Error Codes 55
20.6.2 General Definitions 58
20.6.2.1 General objects 58
Object 1000h: Device Type (DS301) 58
Object 1001h: Error register (DS301) 59
Object 1002h: Manufacturer Status Register (DS301) 60
Object 1003h: Predefined Error Field (DS301) 61
Object 1005h: COB-ID of the SYNC Message (DS301) 62
Object 1006h: Communication Cycle Period (DS301) 62
Object 1008h: Manufacturer Device Name (DS301) 63
Object 1009h: Manufacturer Hardware Version 63
Object 100Ah: Manufacturer Software Version (DS301) 63
Object 100Ch: Guard Time (DS301)Response monitoring 64
Object 100Dh: Lifetime Factor (DS301) 64
Object 1010h: Store Parameters (DS301) 65
Object 1014h: COB-ID for Emergency Message (DS301) 66
Object 1016h: Consumer Heartbeat Time 66
Object 1017h: Producer Heartbeat Time 67
Object 1018h: Identity Object (DS301) 67
Object 1026h: OS Prompt 69
20.6.2.2 Manufacturer specific objects 70
Object 2014-2017h: 1st-4th Mask 1 to 4 for Transmit-PDO 70
Object 2018h: Firmware Version 71
Object 2026h: ASCII Channel 72
Object 20A0h: Latch position 1, positive edge 73
Object 20A1h: Latch position 1, negative edge 73
Object 20A2h: Latch position 2, positive edge 73
Object 20A3h: Latch position 2, negative edge 75
Object 20A4h: Latch Control Register 75
AKD User Guide | Table of Contents
23 Kollmorgen | December 2010
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