2013H - Gripping Cycle Counter; 2014H - Part Lost Counter - coval LEMCOM Series User Manual

LEMCOM CANopen® – User manual
12.10 2013h – Gripping cycle counter
The number of part gripping cycles can be accessed using the following SDO command:
Client (master)  server (LEMCOM)
CAN-ID
Command
(600h+ID)
40h
620h
The subindex is used to define the module to query (from 1 to 16):
- Subindex = 0x01  request for counter value on master module (address #0)
- Subindex = 0x02  request for counter value on secondary module at address #1
- ...
- Subindex = 0x10  request for counter value on secondary module at address #15
The reply is as follows:
Server (LEMCOM)  Client (master)
CAN-ID
Command
(580h+ID)
43h
5A0h
The number of part gripping cycles is provided in hexadecimal format by the following:
Byte 3 – Byte 2 – Byte 1 – Byte 0
12.11 2014h – Part lost counter
The counter for the number of parts lost can be accessed using the following SDO command:
Client (master)  server (LEMCOM)
CAN-ID
Command
(600h+ID)
40h
620h
The subindex is used to define the module to query (from 1 to 16):
- Subindex = 0x01  request for counter value on master module (address #0)
- ...
- Subindex = 0x10  request for counter value on secondary module at address #15
The reply is as follows:
Server (LEMCOM)  Client (master)
CAN-ID
Command
(580h+ID)
43h
5A0h
The number of parts lost is provided in hexadecimal format by the following:
Byte 3 – Byte 2 – Byte 1 – Byte 0
COVAL – LMCOP-EN-A-1155UM0068
Object L Object H
13h 20h
Object L Object H
13h 20h
Object L Object H
14h 20h
Object L Object H
14h 20h
Detailed description of CANopen objects
Subindex Byte 0
Module no.+1 00h
Subindex Byte 0
Module no.+1 00h
Subindex Byte 0
Module no.+1 00h
Subindex Byte 0
Module no.+1 00h
Byte 1 Byte 2 Byte 3
00h 00h
Byte 1 Byte 2 Byte 3
00h 00h
Byte 1 Byte 2 Byte 3
00h 00h
Byte 1 Byte 2 Byte 3
00h 00h
00h
00h
00h
00h
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