User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 14
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3 Communication Objects
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 gives additional information about optional functionality of the device.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1000
h
Device type
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
ro
no
UNSIGNED32
40192
h
3.1.2 Object 1001
h
: Error Register
This object is an error register. The module can map internal errors and object 1001
h
is part of an emergency
object.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1001
h
Error register
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
ro
yes
UNSIGNED8
no
STRUCTURE OF THE ERROR REGISTER
Bit
M/O
Description
0
M
Generic error
1
O
Current
2
O
Voltage
3
O
Temperature
4
O
Communication error
5
O
Device profile specific
6
O
Reserved (always 0)
7
O
Manufacturer specific
If a bit is set to 1, the specific error has occurred.