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40 •
CANopen
Example:
The controls set the outputs 1, 2, 9, 10, 11, and 12 ('1'). The other outputs
(3-16) are '0'.
A short circuit has occurred on output 2. A (+24V) voltage is fed in at output 3
due to an error. The power supply of outputs 9-16 is not switched on.
00 FF 05 01 06 0F 00 00
Fig. 7-2: Example Emergency telegram design
7.3.9 Device Type, Index 0x1000
Index 0x1000 describes the Device Profile of the connected device. The "De-
vice Profile for I/O Modules" (No. 401) is implemented in the CANopen
module. The value in Index 0x1000 shows which kind of inputs and outputs
are available.
Design:
Byte 3
0000.0000
Byte 2
0000.00X1
0000.001X
reserved
reserved
Diagnosis byte of the outputs 16 ... 9
Diagnosis byte of the outputs 8 ... 1
Diagnosis identifier
Error-Register
Error-Code
Byte 2
Byte 1
0000.00XX
Device Profile Number
0x01 (High Byte)
Meaning
Digital input available
Digital output available
Error DO9 ... DO12, '00001111'
Error DO2 and DO3, '00000110'
Byte 0
Device Profile Number
0x91 (Low Byte)
Fieldbus Dependent I/O Module
g112402e
CANopen
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