Manufacturer-Specific Od Objects; Device-Specific Od Objects - Aventics CANopen VS CL03 Serie Instrucciones De Servicio

AVENTICS | CANopen | R402003660–BAL–001–AE
13.3.2

Manufacturer-specific OD objects

There is an area reserved for the manufacturer in addition to the
OD objects specified by the CiA. Device-specific objects can be
entered here and made accessible to the user.
The bit structure of MSR and MCR is depicted on the following
pages.
Table 20: Manufacturer-specific OD objects
Index in Subindex
hex in Hex
1002 0
2000 0
2020
0
1
2
3
2040
0
1
2
13.3.3

Device-specific OD objects

The following objects were taken directly from the profile of the
CiA DS-401, version 2.0.
Appendix – bus master configuration
Object Description
Manufacturer Status Register (MSR)
Is not in the area reserved for the
manufacturer in the OD. The coding of this
object is, however, done by the manufacturer.
Module Control Register (MCR)
The behavior of the bus coupler can be
changed via the MCR.
Diagnostic information
Number of the highest subindex
Number of diagnostic entries
Diagnostic status
Provides superior information on the
upcoming diagnosis.
The diagnostic status is sent via the
emergency object after a change to the
diagnosis case. Further details on the
occurring diagnosis case can be queried using
SDO in the subsequent subindex.
Diagnostic data
Detailed error information.
Parameter information
Number of the highest subindex
Parameter data length
Parameter data
The diagnosis can be switched on and off via
the parameter byte.
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