Documentation 102199AR02

Object 1000h: Device Type

The device type specifies the kind of device.
The lower 16 bit contain the device profile number
and the upper 16 bit an additional information.

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Object 1001h: Error Register

The error register is a field of 8 bits, each for a certain error type.
If an error occurs the bit has to be set.
 
Bit Meaning
0  generic error
1  current
2  voltage
3  temperature
4  communication error (overrun, error state)
5  device profile specific
6  reserved
7  manufacturer specific

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Object 1008h: Manufacturer Device Name

Contains the device name.

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Object 1009h: Manufacturer Hardware Version

Contains the device hardware version.

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Object 100Ah: Manufacturer Software Version

Software version.
00	first released revision

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Object 1010h: Store Parameter Field

This entry supports saving of parameters in non volatile memory.
With a read access the device provides information about
its saving capabilities. Several parameter groups are distinguished.

Sub index 1      : all parameters
Sub index 2      : communication parameters
Sub index 3      : application parameters
Sub index 4 - 127: manufacturer defined parameters

For saving the signature "save" (0x65766173) must be written.
The CANopen library by port contains extensions for load ("load")
and clear ("kill").

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Object 1011h: Restore Default Parameters

This entry supports restoring of default para- meters.
With a read access the device provides information about
its capabilities to restore these values.
Several parameter groups are distinguished.

Sub index 1      : all parameters
Sub index 2      : communication parameters
Sub index 3      : application parameters
Sub index 4 - 127: manufacturer defined parameters
c
For restoring the signature "load" (0x64616f6c) must be written.

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Object 1017h: Producer Heartbeat Time

The producer heartbeat time defines the cycle 
time of the heartbeat. If the time is 0 it is not used.
The time has to be a multiple of 1 msec

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Object 1018h: Identity Object

This object contains general information about the
device.
Sub-Index 1 contains a unique value allocated each manufacturer.
Sub-Index 2 identifies the manufacturer specific product code (device version).
Sub-Index 3 contains the revision number.
Bit 31-16 is the major revision number and Bit 15-0 the minor revision number.
Sub-Index 4 identifies a manufacturer specific serial number.

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Object 1200h: Server SDO Parameter 1

The object contains the parameters for the SDOs for which
the device is the server.

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Object 1800h: Transmit PDO Communication Parameter 1

It contains the communication parameters of the current PDO
the device is able to transmit.
Sub-index 0 contains the number of PDO-parameters implemented.
Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled.
The transmission mode is defined by sub-index 2.
An inhibit time can be defined on sub-index 3 in 100 µs.
At the 5th sub-index can be defined a event time for asynchron pdos.

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Object 1801h: Transmit PDO Communication Parameter 2

It contains the communication parameters of the current PDO
the device is able to transmit.
Sub-index 0 contains the number of PDO-parameters implemented.
Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled.
The transmission mode is defined by sub-index 2.
An inhibit time can be defined on sub-index 3 in 100 µs.
At the 5th sub-index can be defined a event time for asynchron pdos.

Object Description

Entry Description

Object 1A00h: TPDO Mapping Parameter 1

Contains the maping for the PDOs the device is able to transmit.
The type of the PDO mapping parameter is at index 21h.
The subindex 0h contains the number of valid entires within the mapping record.
This number of entries is also the number of the application variables
which shall be transmitted with the corresponding PDO.
The subindicex from 1h to number of entries contain the information
about the mapped application variables.
These entries describe the PDO contents by their index, subindex and length.
Allthree values are hexa-decimal coded.
The length entry contains the length of the object in bits (1..40h).
This parameter can be used to verify the overall mapping length. It is mandatory.

Object Description

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Object 1A01h: TPDO Mapping Parameter 2

Contains the maping for the PDOs the device is able to transmit.
The type of the PDO mapping parameter is at index 21h.
The subindex 0h contains the number of valid entires within the mapping record.
This number of entries is also the number of the application variables
which shall be transmitted with the corresponding PDO.
The subindicex from 1h to number of entries contain the information
about the mapped application variables.
These entries describe the PDO contents by their index, subindex and length.
Allthree values are hexa-decimal coded.
The length entry contains the length of the object in bits (1..40h).
This parameter can be used to verify the overall mapping length. It is mandatory.

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Object 2000h: Setpoint Temp TH

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Object 2003h: Setpoint FFBD TH CAN

FFBD Threshold setting from CAN
if value is default, 0xffff,
then potentiometer is used as input for 
FFBD Threshold

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Object 2005h: Toggling_interval

Command for manufacturing test
Toggling signal "DYN_OUT" is a signal from main cpu
to sw monitor. If toggling stops, the sw monitor
detects an error and disables PF interlock.

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Object 2006h: Mismatch_period

Command for manufacturing test
PAD06 is feedback signal from output relay B
Normally it's input, and shows relay state.
To test sw monitor we must force mismatch between
relay state and feedback from the relay.
PAD06 reconfigured as output, signal is forced high
for  time. 
PAD06 is then reconfigured back to input.

Precondition: PF interlock must be connected before test

Remark: executing the command will hang the sw monitor.
FFC must be unpowered/powered to continue work.
Make the test as the very last condition.

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Object 2009h: Goto boot loader

For expert use only, use to upgrade software fron CAN
Variable value contains a signature that must be written, before software upgrade starts

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Object 200Ah: Comm_parameters

Desciption of comm parameters
subindex 0: number of entries
subindex 1: CAN bit rate
subindex 2: CANopen NodeId

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Object 200Eh: Set Break Enable

This object corresponds to status objects 2030, 2031
Here you enable/disable break functions.
All functions are handled as single bits in one byte.

Default setting is Temp break disabled, FFBD break enabled

Status of individual break enable functions.
Bit = 1 means interlock breaks if measured level is >threshold level
Bit = 1 means that break function is enabled

Bit 0: Temp break enable
Bit 3: FFBD break enable

Bit 8: reserved(Temp derivative break enable)
Bit 11: reserved(FFBD derivative break enable)

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Entry Description

Object 2010h: FFC_PCB_Status

Status of FFC PCB. For the moment only one subindex is used, it could have been a variable instead, but for the future, it can be useful
subindex
0: Number of entries
1: Serial number
2: FFC PCB HW rev

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Object 2020h: Temp

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Object 2023h: FFBD

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Object 2024h: Setpoint_FFBD_TH_pot

Readvalue from potentiometer on PCB
0xffff = 5V

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Object 2025h: Setpoint_FFBD TH

Used FFBD_TH value
if CAN value = 5V, then potentiometer is used,
other values then CAN value is used
0xffff = 5V

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Object 2028h: rtc_counter

16 bit rtc free running counter, increment every msec
The intended use is to time relate PDO2 for fast mesurement rate.

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Object 2030h: Status Thresholds

Status of individual parameters.
Bit = 1 means under threshold
Bit = 0 means over threshold, warning or fiber break

Bit 0: Temp
Bit 1: not used
Bit 2: not used
Bit 3: FFBD

Bit 8: Temp derivate
Bit 9: not used
Bit 10: not used
Bit 11: FFBD derivate

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Object 2031h: Status Break Enable

Status of individual break enable functions.
Bit = 1 means interlock breaks if measured level is >threshold level
Bit = 1 means that break function is enabled

Bit 0: Temp break enabled
Bit 1: 
Bit 2: 
Bit 3: FFBD break enabled

Bit 8: Temp derivate break enabled
Bit 9: 
Bit 10:
Bit 11: FFBD derivate break enabled

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Object 2032h: Status Mode

Status for interlock
We have four status bits available

bit 0 reflects break enable functions
bit 1 reflects PF CH A (HW) interlock detection status
bit 2 reflects PF CH B (SW) interlock detection status
bit 3 reflects FF interlock feedback

bit 0 = 0 means OK
bit 0 = 1 means interlock forced broken
bit 1 = 0 means PF hw interlock detected OK
bit 1 = 1 means PF hw interlock detected out of range
bit 2 = 0 means PF sw interlock detected OK
bit 2 = 1 means PF sw interlock detected out of range
bit 3 = 0 means FF interlcok closed
bit 3 = 1 means FF interlock broken

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Object 2033h: measure_release_time

Command for manufacturing test
PF interlock is disabled.
time for status signals OK_A, OK_B, REL_A, REL_B
to become FALSE is measured
REL_A, REL_B are the feedback signals from relays

rem:
REL_A = OK_A + release time for the relay
REL_B = OK_B + release time for the relay
OK_A is the hardware interlock detect channel.
It's faster than OK_B
OK_B can vary +10msec, but here we measure fastest
possible time for the software channel

remark: command is blocking, but interrupt is served during test.

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