Device DDT for CANopen Slave Devices
Original instructions
Overview
Use the device derived data type (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.