User Manual

TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04
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3 Communication Area
The communication area contains all objects that define the communication parameters of the CoE device
according to the EtherCAT standard.
3.1 Detailed Object Specifications
3.1.1 Object 1000
h
: Device Type
This object contains information about the device type. The object 1000
h
describes the type of device
and its functionality. It is composed of a 16-bit field which describes the device profile that is used and a
second 16-bit field which provides additional information about optional functionality of the device.
Object Description
Index Name Object Type Data Type
1000
h
Device type Variable UNSIGNED32
Table 5: Object Description (1000
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro no UNSIGNED32 FF7A0192
h
Table 6: Entry Description (1000
h
)
3.1.2 Object 1001
h
: Error Register
This object contains error information. The CANopen device maps internal errors into object 1001
h
. It is
part of an emergency object.
Object Description
Index Name Object Type Data Type
1001
h
Error register Variable UNSIGNED8
Table 7: Object Description (1001
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro no UNSIGNED8 0
Table 8: Entry Description (1001
h
)
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