User`s manual

SECTION 6:CANOPEN INTERFACE DS2100 User's Manual
C27750-001 PAGE 6-19
6.10 Communication Profile Objects
6.10.1 Error reporting
Any errors in the drive are reported using emergency messages. The cob-id can be modified using the parameter
emergency_message_cob-id (index 0x1014, subindex 0). The last error is available in the parameter error_register
(index 0x1001, subindex 0).
A list of errors can be read using the parameter pre-defined_error_field (index 0x1003, subindex 1 - 8). The
number of stored errors can be read through maximum_saved_errors (index 0x1003, subindex 0). By writing a 0 to
maximum_saved_errors, the error list can be deleted. See CiA Draft Standard 301 for further information.
6.10.2 Heartbeat Protocol
For protection purposes in case of a non functioning CAN network the heartbeat producer protocol is implemented.
By writing a non zero time value in milliseconds to the parameter heartbeat_producer_time (index 0x1017,
subindex 0) the transmission of heartbeat messages is enabled.
6.10.3 Storing and restoring Parameters
The drive supports storing and restoring of parameter settings to and from EEPROM. This is done by writing a
signature to certain parameters.
Storing parameters to EEPROM is done by writing 0x65766173 (signature 'save') to the parameter
store_all_parameters (index 0x1010, subindex 1). This saves all parameters to EEPROM. In order to only save
the communication parameters or only the drive parameters to EEPROM, the parameters
store_communication_parameters (index 0x1010, subindex 2) and store_application_parameters (index 0x1010,
subindex 3) can be used.
In order to restore parameters to default values the value 0x64616f6c (signature 'load') has to be written to
restore_all_parameters (index 0x1011, subindex 1). To restore only communication or drive parameters the
restore_communication_parameters (index 0x1011, subindex 2) and restore_application_parameters (index
0x1011, subindex 3) can be used. Please not that a 'Reset Commmunication' or 'Reset Node' is necessary in order to
restore the default values after writing the signatures. Refer to 'Network Initialisation and System Bootup' for
further information.
6.10.4 Drive Identification
For identification purposes in a CAN network various parameters are provided. The parameter device_type (index
0x1000, subindex 0) contains the value 0x00020192 which means servo drive (0x0002) according to draft standard
402 (0x0192 in hexadecimal). manufacturer_device_name
(index 0x1008, subindex 0) contains the device name,
manufacturer_hardware_version
(index 0x1009, subindex 0) the hardware revision and
manufacturer_software_version
(index 0x100a, subindex 0) the software version as visible strings.