Communication via CAN bus (CANopen)
AP10
Date: 28.02.2022 Art. No. 86853 Mod. status 37/22 Page 26 of 78
Example of writing SDO parameters:
Change the loop length stored with 2 bytes in object 5F14h of the directory of objects in the
AP10 with device address 1.
Calculation of the identifier: 600h + Node-ID = 600h + 1 = 601h
Command: Write 2 bytes: 2Bh
Index: 5F14h
Sub-index: 00h
The new value shall be 4500 = 1194h
Example of writing SDO parameters:
Response by slave to the command:
Calculation of the identifier: 580h + Node-ID = 580h + 1 = 581h
5.5 Node monitoring
5.5.1 Emergency Service (EMCY)
The status of the bus subscriber is transferred via high-priority emergency messages in case of
error. These messages have a data length of 8 bytes and contain information on the error.
The emergency message is transferred as soon as a serious communication error occurred or
was corrected. The cause of error is stored in the error buffer (see object 1003h: Pre-defined
Error Field). An emergency object is sent only once per error event. Removal of a cause of
error is signified by sending an emergency message with Error Code 0000h (No Error). If
multiple errors exist and one cause of an error has been corrected, then Error Code 0000h is
output as well; however, the persisting error condition is indicated in the Error Register.
Error Register
(Object 1001h)
Manufacturer-specific error field
(not used)
Bus status changed to Error Passive Mode
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