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FMU Technical Manual
Bit
Description
3
Node guarding protocol for this node is active.
4-6
Reserved by system.
7
Node is deactivated and not handled by the master.
ARRAY [0], higher byte and ARRAY [1], lower byte: extended information
These two bytes are read out from the node during startup. In the draft CiA specification, this
word is declared as extended information of the node type. For example, whether the node
supports digital input or outputs, etc. is fixed in this word.
ARRAY [1], higher byte and ARRAY [2], lower byte: profile number
These two bytes are read out from the node during startup. Several predefined profile numbers
exist, each described in its own specification manual. Here is an extract:
•
Device profile for I/O modules: 401, 16#0191.
•
Device profile for drives and motion control: 402, 16#0192.
•
Device profile for encode: 406, 16#0196.
ARRAY [2], higher byte: node state
If the node guarding protocol is active for this node, node status register read is written into this
variable. The following values are defined in the CANopen specification.
Value
Description
1
Disconnected.
2
Connecting.
3
Preparing.
4
Prepared.
5
Operational.
127
Pre-operational.
ARRAY [3], lower byte: current error
In this byte the actual online error of this node station is held down. See the table containing
"Err_Event" of the global bus status field (see page 45) for possible entries.
ARRAY [3], higher byte: number of emergency messages saved
This byte contains the number of emergency messages saved in the following data area.
ARRAY [4...23]: emergency messages
In this area the emergency messages are saved.
5.3 FMU_DataExchange
59
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