Device DDT for CANopen Slave Devices

Overview

Use the device (DDDT) for diagnosis.

There is one device DDT for each CANopen slave device.

The device DDT, contains:

NOTE: To access these parameters, refer to device DDT Variables.

HEALTH Parameter

The HEALTH byte provides the status of the CANopen slave device:

Bit 3 Wait	Bit 2 Prog	Bit 1 Live	Bit 0 Diag	General Device Status
0	0	0	0	CANopen node not used
0	1	1	0	OPERATIONAL
1	1	1	0	PRE-OPERATIONAL
0	1	1	1	ERR (Configured with fault)
0	1	0	1	FAULT (Inoperative)
0	1	0	0	DISABLE (Configured)
1	1	0	0	STOPPED

Inputs and Outputs Parameters

The parameter Inputs contains the variables mapped in active PDOs to transmit to the CANopen master.

The parameter Outputs contains the variable mapped in active PDOs to receive from the CANopen master.

NOTE: For detailed information on PDOs, refer to chapter Device Configuration.