Subindex Name Description
3h Revision Number The revision number is composed of the main (bit 31 to 16)
and secondary number (bit 15 to 0) of the software version
displayed in object 100Ah. The software version refers to the
application controller.
4h Serial Number Indicates the 8-digit serial number.
Object 1019h Synchronous Counter Overflow Value
By default, the SYNC message consists of predefined CAN identifier 80h and 0byte
data. Optionally, the SYNC message can be extended by a 1-byte counter value. Per
sent SYNC message this counter increases by the value 1. The same applies to PDOs
that are coupled to the SYNC message. By means of subindex 06h (Sync Start Value) in
the PDO communication parameters, it is also possible to adjust at which SYNC counter
value the corresponding PDO is to be sent for the first time.
Further transmission of the PDO then takes place as before in strict dependence on the
entry in subindex 02h (Transmission Type). The maximum SYNC counter value can be
set with this object (Synchronous Counter Overflow Value). After reaching the set value,
the counter is reset to the value 1 at the next transmission. Counter value 0 deactivates
the SYNC counter.
Value Description
0 The SYNC message is to be transmitted as a CAN message with data length
“0”.
1 Spare
2 – 240 The SYNC message is to be transmitted as a CAN message with data length
“1”. The first data byte contains the counter.
241 – 255 Spare
Object 1029h Error Behaviour
If a CANopen error occurs in the device and the “NMT” is in the “Operational” state,
the device switches autonomously to the “Pre-operational” state by default. If object
1029h is implemented, the “NMT” can alternatively, after the occurrence of a CANopen
communication error, switch to the “Stopped” state or remain in the current NMT state.
CANopen communication errors can be:
•
Busoff of the CAN interface
•
Life guarding event with the “Occurred” state due to the “Time out” reason
•
Heartbeat event with the “Occurred” state due to the “Time out” reason
Subindex Name Description
0h Number of Entries Specification of the number of subindices within the object
1029h.
1h Communication
Error
•
00h: Change to the NMT “Pre-operational” state. Only if
the NMT state was previously “Operational.”
•
01h: No change of the NMT state
•
02h: Change to NMT “Stopped” state
•
03h - 7Fh: Reserve
•
80h - FFh: Manufacturer-specific
Object 1800h Transmit PDO Communication Parameter 1
Communication parameter for asynchronous transmission of object 6004h, subindex
0h (position)
CANOPEN INTERFACE 10
8015418/19HA/2022-12-15 | SICK O P E R A T I N G I N S T R U C T I O N S | DL100 Pro CANopen
73
Subject to change without notice
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