Leuze electronic MSI 400 Series Manual page 133

SDO 1001: Error register
The error register (SINT) contains an error bit indicating whether an error is present. If bit 0 is set to 1, a
"generic error" has been detected.
SDO 1003: Error list (error history)
SDO 1003 is an array that contains the last 10 error codes that the gateway has reported with the aid of
emergency messages. Array index 0 contains the number of error codes recorded in SDO 1003.
A new error is recorded in index 1, while older errors will in this case be renumbered (incremented by 1).
The array index can be overwritten with a 0 from the outside, thus completely deleting the array.
NOTICE
i
Ä Not all errors reported with the aid of emergency messages are recorded in SDO 1003, only
the errors listed here:
Error and state information for the modules [chapter 3.3.5] and table "CANopen Emergency
Messages [chapter 10.6]"
Ä The entries in SDO 1003 are in UDINT format and normally divided into 16 bits of error code
and 16 bits of additional information. In the event of an emergency, the module state dia-
gnosis (4 bytes) will be entered here.
SDO 1005: COB ID SYNC
SDO 1005 contains the COB-ID of the sync object. This value has been preset to 80h, but can be changed.
NOTICE
i
When you change the COB-ID of the sync object, please ensure that the new ID has not already
been allocated to another communication object.
SDO 1008: Device name
SD0 1008 contains a device name (VISIBLE STRING).
NOTICE
i
This SDO cannot be read with a simple "SDO upload expedited". The "Upload SDO segment
protocol" command (client command code ccs = 3) must be used instead, as described in the
CANopen specifications DS 301.
SDO 1009: Hardware version
SDO 1009 contains the current hardware version of the device (VISIBLE STRING).
NOTICE
i
This SDO cannot be read with a simple "SDO upload expedited". The "Upload SDO segment
protocol" command (client command code ccs = 3) must be used instead, as described in the
CANopen specifications DS 301.
SDO 100A: Software version
SDO 100A contains the current software version of the device (VISIBLE STRING).
NOTICE
i
This SDO cannot be read with a simple "SDO upload expedited". The "Upload SDO segment
protocol" command (client command code ccs = 3) must be used instead, as described in the
CANopen specifications DS 301.
SDO 100C: Guard Time
The guard time (UINT) multiplied by the life time factor (SINT) results in the life guarding time.
Life Guarding Time [ms] = Guard Time [ms] × Life Time Factor
During the Life Guarding Time, the master must send at least one node guarding
Leuze electronic MSI 400
CANopen gateway
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