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3. CANopen communication
Abort code
Description
0609 0031h
Value of parameter written too high (download only)
0609 0032h
Value of parameter written too low (download only)
0609 0036h
Maximum value is less than minimum value
Resource not available: SDO connection
060a 0023h
0800 0000h
General error
0800 0020h
Data cannot be transferred or stored to the application
0800 0021h
Data cannot be transferred or stored to the application because of local control
0800 0022h
Data cannot be transferred or stored to the application because of the present
device state
Object dictionary dynamic generation fails or no object dictionary is present
0800 0023h
(e.g. object dictionary is generated from file and generation fails because of an
file error).
0800 0024h
No data available
3.4 Transmit process data object (TPDO)
Transit process data objects are used by the sensor to frequently transmit measured
data with low protocol overhead. A TPDO may contain up to 8 bytes of measurement
or status data. The data mapped to the TPDO may be changed through the TPDO
mapping.
All TPDO transmission requires the sensor to be in NMT state 'OPERATIONAL' (see 3.4).
TPDO data is transmitted using the CAN-ID: 1800h.1 (COB-ID) + Node-ID, data length
as big as needed by the data.
3.4.1 TPDO mapping
Object entries marked as 'mapable' may be mapped into either TPDO. The TPDO
mapping may be accessed through the object 1A00h and 1A01h (the first one defines
the content of TPDO1 the latter of TPDO2).
Subindex 0 contains the number of used entries (up to 8, excluding subindex 0).
The other subindex contain the object dictionary entries index and subindex encoded as
a 32bit integer. The information is encoded as follows:
Bits 24..31
Index (high byte)
Please note, that the data length needs to match the entries data size from the object
dictionary.
WIKA special documentation, model MH-4-CAN
Bits 16..23
Index (low byte)
Bits 8..15
Subindex
Bits 0..7
Data length in bits
13
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