User Manual

TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14
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3.1.16 Object 1023
h
: OS Command
After switching to TMCL command mode using object 2700
h
, this object can be used to send TMCL
commands to the TMCM-3351 module. A TMCL command can be written to sub-index 1. After the
command has been executed, the status code and the TMCL reply can be read from sub-index 2 and
sub-index 3.
Object Description
Index Name Object Type Data Type
1023
h
OS Command Record Command
Table 42: Object Description (1023
h
)
Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
00
h
Number of entries ro no — 3
01
h
TMCL command rw no Octet string (7 bytes) —
02
h
Reply ro no UNSIGNED8 —
03
h
TMCL reply ro no Octet string (7 bytes) —
Table 43: Entry Description (1023
h
)
3.1.17 Object 1029
h
: Error Behaviour
If a device failure is detected in operational state, the device can be configured to enter alternatively the
stopped state or remain in the current state in case of a device failure. Device failures include the following
errors:
• Communication error
• Application error
Object Description
Index Name Object Type Data Type
1029
h
Error behaviour Array UNSIGNED8
Table 44: Object Description (1029
h
)
Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
00
h
Number of error classes ro no — 2
01
h
Communication error rw no UNSIGNED8 0 (enter stopped state)
02
h
Application error rw no UNSIGNED8 1 (remain in current state)
Table 45: Entry Description (1029
h
)
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