Scaime eNod4-B - 5.8 CANopen Command and Response Registers; 5.9 Communication Objects

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User manual SCAIME: NU-soft-eNod4B-E-0716_236704-C.doc
 Note 2: RPDO1-2-3-4-5 and TPDO1 mapping are configured with default values that cannot be modified.
5.8 CANopen command and response registers
In CANopen® communication protocol, the ‘command register’ is mapped into RPDO1 and the ‘response register’ is
mapped into TPDO1. When in operational NMT state, eNod4 is able to handle the functional commands received
through RPDO1 and the ‘response register’ value changes are automatically transmitted through TPDO1.
5.9 Communication objects
Some settings are specific as defined by the CANopen® communication specification.
5.9.1 0x1001 / 0x00 : error register
• access : RO
• data type : unsigned8
• default value : 0
• mappable ? : N
• admitted values : see table below
Description: The device internal errors are indicated by flag bits of this byte. b
0
bit (generic error) is set to 1 if at least
one error is detected.
Bit se to 1
Meaning
b
0
generic error detected
b
1
reserved (0)
b
2
A/D converter input voltage error
b
3
reserved (0)
b
4
CAN bus communication error
b
5
reserved (0)
b
6
reserved (0)
b
7
EEPROM error
5.9.2 0x1003 : Pre-defined error field
Sub-index
Description
Access
Default value
Mappable
(PDO) ?
Type
0x00
reported errors
counter
R/W
0
N
unsigned8
0x01
last reported error
RO
0
N
unsigned32
Description: This entry of the object dictionary stores the errors that have been reported by emergency telegrams.
The reported errors counter (sub-index 00
H
) is accessible through write or read request but 0 is the only allowed value
for writing transactions. By writing a zero to this sub-index, the error counter is reset and the last reported error (sub
index 01
H
) is erased. An attempt to write another value is ignored and eNod4 answers the SDO abort code
0x06090030.