Issue 01/05 Data transfer using CANopen
CANopen Option Module Operating Instructions
6SE6400-5BC00-0BP0
17
3 Data transfer using CANopen
3.1 MICROMASTER object directory
All of the objects of the object directory are listed in the following table. The table
contains the index and subindex of the object as well as a brief description of the
functionality and the data type as well as the default value.
For each object, it is defined as to how it can be transferred. In this case, a
differentiation is made between the two possibilities - SDO and PDO transfer. In
addition, the parameters or connectors, in which the object data are located, are
also listed. If both possibilities are specified in the table, then data transfer can
either be realized as SDO or as PDO.
For more detailed information about the objects, please refer to the CANopen
profiles DS 301 V4.0 and DSP 402 V1.1.
Comment to the following table:
O-Ind = Object index
S-Ind = Subindex
Access ro = read only
Access wo = write only
Access rw = read / write
O-Ind S-
Ind
Object name Description Transf.
using
D-type /
access
Default value / comment
1000H Device Type Device type SDO U32 /
ro
10129H for MICROMASTER /
-
1001H Error
Register
One bit for each type
of error as defined for
CANopen
SDO U8 / ro 0 /
bit 0 generic error
bit 1 current
bit 2 voltage
bit 3 temperature
bit 4 communication error
bit 5 not used
bit 6 reserved
bit 7 other errors
1003H Pre-defined
error field
Display, parameters
for the error code
SDO
.0 Number of
errors
Number of errors
which have occurred
SDO 0 /
-
.1 Standard
error field
Error code of the last
error which occurred
SDO 0 /
This value is not the same as in
MICROMASTER r0947 (refer to Table 3-14)
.2 Standard
error field
Error code of the last
but one error which
occurred
SDO 0 /
-
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