User guide

 Entry description:
Access Read/Write
PDO mapping No
Value range No
Default value 0xFF (all emergencies on)
Object 0x2F22: Bus off time out
This object defines the bus off timeout in milliseconds. If the device enters bus off, it will
attempt to renew CAN communication after the specified time elapses. If the device
recovers the CAN communication, the drive will enter pre-operational state; otherwise, it
will remain disconnected. If the value of the object is set to zero, the timeout is infinite;
that is, the device never recovers from the bus off.
A node goes into bus off state when more than 255 errors have been counted by the
transmitter error counter. If this state, the node cannot participate in the bus activities. A
node in bus off state can become “error active” (no longer in bus off state) with its error
counter set to 0 after 128 occurrences of 11 consecutive recessive bits (logical 1) have been
monitored on the bus.
Note: When object 0x2F22 is 0, the node can never leave bus off state.
 Object description: :
Index 2F22h
Name Bus-off time out
Object code VAR
Data type UNSIGNED16
Category
 Entry description:
Access Read/Write
PDO mapping No
Value range 0…65,535
Default value 500
Object 0x2F23: Digital input TPDO event parameters
When a TPDO is driven by a “digital input event” (DIN event) according to object
0x2F20, this object defines which digital input transitions will activate the TPDO.
Logic digital inputs (logic DINs) are physical or simulated input in values. The polarity
for physical inputs is set according to the IL[N] command and to the debouncer
according to the IF[N] command. The logic DINs are sampled each real-time cycle. The
decisions about an event and its transmission are made in the background.
CANopen DS 301 Implementation Guide Manufacturer-specific Objects
MAN-CAN301IG (Ver. 2.1)
13-29