User Manual

TMCM-6212 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13
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Object Description
Index Name Object Type Data Type
1018
h
Identity object Record Identity
Table 40: Object Description (1018
h
)
Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
00
h
Number of entries ro no 0. . . 3 3
01
h
Vendor ID ro no UNSIGNED32 0286
h
02
h
Product code ro no UNSIGNED32 6212
03
h
Revision number ro no UNSIGNED32 e.g. 20003
h
for version 2.3
Table 41: Entry Description (1018
h
)
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-6212 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:
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