Applied Motion ST10-C-CE - Manual (Page 38)

38 920-0025 Rev K
3/5/2015
CANopen User Manual
Manufacturer Specific Objects
The objects described in this section are manufacturer-specific to configure or monitor the
AMP CANopen driver.
0x2014~0x2017 PDOx_transmit_mask
The “TPDO detects COS” (means “on change data”) transmit event for PDOs can be
mask off by these indexs. By default, all data in a PDO is considered when checking for
change.
Each Index has 2 sub-indexes, sub-index 1 is used to mask (or reveal) bits in the lower
32bits (4bytes) of data. Sub-index 2 is the same for the upper 32bits.
Object Type Sub Number Data Type Access Type
PDO
Mapping
COS Default value
Array 3 UNSIGNED32 rw no no 0
Subindex Name Default value
00 max sub-index 2
01 PDOx_mask_LowerBytes 0xFFFFFFFF
02 PDOx_mask_upperBytes 0xFFFFFFFF
PDOx_mask_LowerBytes
bit0-31: mask off the lower 4 bytes of a TPDO when the data is “on change”
PDOx_mask_upperBytes
bit0-31: mask off the upper 4 bytes of a TPDO when the data is “on change”
0x2100 Error status bits
Error Status Bits indicates error conditions inside stack or inside application.
Object Type Data Type
Access
Type
PDO
Mapping
COS Default value
Var OCTET_STRING ro optional no 00 00 00 00 00 00 00 00 00 00
Default error status bits are:
Communication or protocol errors from driver (informative):
00 - ERROR_NO_ERROR - Error Reset or No Error.
01 - ERROR_CAN_BUS_WARNING - CAN bus warning.
02 - ERROR_RXMSG_WRONG_LENGTH - Wrong data length of received CAN message.
03 - ERROR_RXMSG_OVERFLOW - Previous received CAN message wasn’t processed yet.
04 - ERROR_RPDO_WRONG_LENGTH - Wrong data length of received PDO.
05 - ERROR_RPDO_OVERFLOW - Previous received PDO wasn’t processed yet.
06 - ERROR_CAN_RX_BUS_PASSIVE - CAN receive bus is passive.