Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 29)

4.2 General definitions

This chapter describes Objects with a general validity (e.g. Object 1000

Device Type). The next

section explains the free configuration of Process Data Objects (“free mapping”).

4.2.1 General Objects

4.2.1.1 Object 1000h: Device Type (DS301)

This Object describes the device type (servo drive) and device functionality (DS402 drive profile). It

is laid out as follows:

MSB LSB

additional information device profile number

mode bits type 402

31 24 23 16 15 0

Number of the device profile: 402

(drive profile)

Type: 02 (servo drive)

Mode bits: 0 (manufacturer-specific)

Index

1000

Name

device type

Object code

VAR

Data type

UNSIGNED32

Category

Access

PDO mapping

not possible

Value range

UNSIGNED8

Default value

The following describes the bit assignment for the error register. A bit that is set indicates an

error/fault event.

Bit Description Bit Description

0 generic error 4 communication error

1 current 5 device profile specific

2 voltage 6 reserved

3 temperature 7 manufacturer-specific

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BECKHOFF 07/2007 CANopen Drive Profile

1 2 ... 24 25 26 27 28 29 30 31 32 33 34 ... 136 137

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Beckhoff AX2000 CANopen communication profile Manual de usuario Pagina 29