BECKHOFF AX2000 CANopen communication profile - Manual (Page 29)

4.2 General definitions
This chapter describes Objects with a general validity (e.g. Object 1000
h
Device Type). The next
section explains the free configuration of Process Data Objects (“free mapping”).
4.2.1 General Objects
4.2.1.1 Object 1000h: Device Type (DS301)
This Object describes the device type (servo drive) and device functionality (DS402 drive profile). It
is laid out as follows:
MSB LSB
additional information device profile number
mode bits type 402 d
31 24 23 16 15 0
Number of the device profile: 402
d
(drive profile)
Type: 02 (servo drive)
Mode bits: 0 (manufacturer-specific)
Index 1000 h
Name device type
Object code VAR
Data type UNSIGNED32
Category M
Access ro
PDO mapping not possible
Value range UNSIGNED32
Default value no
4.2.1.2 Object 1001h: Error register (DS301)
If an error bit is set in the manufacturer independent error register, then more detailed information is
made available in Object 1003
h
. This Object is part of the Error Object (Emergency Message).
Index 1001 h
Name Error register
Object code VAR
Data type UNSIGNED8
Category M
Access ro
PDO mapping not possible
Value range UNSIGNED8
Default value no
The following describes the bit assignment for the error register. A bit that is set indicates an
error/fault event.
Bit Description Bit Description
0 generic error 4 communication error
1 current 5 device profile specific
2 voltage 6 reserved
3 temperature 7 manufacturer-specific
CANopen for AX2000/2500 29
BECKHOFF
07/2007
CANopen Drive Profile