West Control Solutions KS 800 CANopen Interface Manual User Manual
Page 10
KS 800 CAN-Interface
3.1
Information Record (send PDO from KS800):
The structure of the Information Record is:
Index
Subindex
Field
Data Type
42
0
number of supported entries in the record
unsigned8
1
channel number
unsigned8
2
Xeff
FixedPoint1
3
device status information
unsigned8
4
channel status information
unsigned16
5
Ypid
FixedPoint1
In detail, a send PDO from KS800 contains the following data:
channel
→
data[ 0]
Xeff
→
data[ 1, 2]
low byte
data[ 1]
high byte
data[ 2]
Controller status information
data[ 3]
Bit 0
*
)
-
offline[0], online [1]
Bit 1
*
)
-
DO1...12 fail
Bit 2
*
)
-
DO13...16 fail
Bit 3
*
)
-
heating current short circuit is configured
Bit 4
-
"Input state" signalling,
Bit 5
-
as an input, otherwise "0".
Bit 6
-
Bit 7
-
Does not generate an asynchronous PDo trigger!
Channel status information (bit=1 in case of alarm):
data[ 4, 5]
Bit 0
*
)
-
HH alarm
data[ 4]
Bit 1
*
)
-
H alarm
Bit 2
*
)
-
L alarm
Bit 3
*
)
-
LL alarm
Bit 4
*
)
-
Sensor fail alarm
Bit 5
*
)
-
Heating current alarm
Bit 6
*
)
-
Leakage current alarm
Bit 7
*
)
-
DO_x alarm
Bit 8
*
)
-
W2 active
data[ 5]
Bit 9
*
)
-
Wint active
Bit 10
*
)
-
Wanfahr active
Bit 11
*
)
-
Self-tuning active
Bit 12
*
)
-
Self-tuning error
Bit 13
*
)
-
Controller A/M
Bit 14
*
)
-
Controller switched off (coff)
Ypid:
data [6, 7]
low Byte
*
) -
data [6]
high Byte
*
) -
data [7]
*
) A change generates an asynchronous PDO event.
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