CANopen device profile 1.1 Device 1 1 CANopen minimal_test 0 0 0 SW library libedssharp CANopenNode * bit 7: manufacturer specific * bit 6: Reserved (always 0) * bit 5: device profile specific * bit 4: communication error (overrun, error state) * bit 3: temperature * bit 2: voltage * bit 1: current * bit 0: generic error * Sub Index 0: Contains number of actual errors. 0 can be written to clear error history. * sub-index 1 and above: * bit 16-31: Manufacturer specific additional information * bit 0-15: Error code as transmited in the Emergency object Number of errors Standard error field Standard error field Standard error field Standard error field Standard error field Standard error field Standard error field Standard error field Standard error field Standard error field Standard error field Standard error field Standard error field Standard error field Standard error field Standard error field * bit 31: set to 0 * bit 30: If set, CANopen device generates SYNC object * bit 11-29: set to 0 * bit 0-10: 11-bit CAN-ID Period of SYNC transmission in µs (0 = transmission disabled). Synchronous window leghth in µs (0 = not used). All synchronous PDOs must be transmitted within this time window. * bit 31: If set, EMCY does NOT exist / is NOT valid * bit 11-30: set to 0 * bit 0-10: 11-bit CAN-ID Inhibit time of emergency message in multiples of 100µs. The value 0 disables the inhibit time. Heartbeat producer time in ms (0 = disable transmission). * Value 0: SYNC message is transmitted with data length 0. * Value 1: reserved. * Value 2-240: SYNC message has one data byte, which contains the counter. * Value 241-255: reserved. Sub-indexes 1 and above: * Value 0x00: on error change to NMT state Pre-operational (only if currently in NMT state Operational) * Value 0x01: on error do nothing * Value 0x02: on error change to NMT state Stopped Highest sub-index supported Communication error Profile- or manufacturer-specific error CANopen communication network profile 1.1 CommunicationNetwork 1 1 CANopen