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TMCM-351 CANopen Firmware Manual - Trinamic

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<strong>TMCM</strong>-341/342/343/<strong>351</strong> <strong>CANopen</strong> <strong>Firmware</strong> <strong>Manual</strong> (V1.04 / 2011-AUG-01) 25<br />

6.1.13 Object 1018 h: Identity object<br />

The object 1018 h contains general information about the device.<br />

The Vendor ID (sub-index 01 h ) contains a unique value allocated to each manufacturer. The<br />

vendor ID of TRINAMIC is 0286 h .<br />

The manufacturer-specific Product code (sub-index 2 h ) identifies a specific device version.<br />

The Manufacturer-specific Revision number (sub-index 3 h ) consists of a major revision number<br />

and a minor revision number.<br />

OBJECT DESCRIPTION<br />

Index Name Object Code Data Type Category<br />

1018 h Identity object RECORD Identity Optional<br />

ENTRY DESCRIPTION<br />

Sub-Index Description Access PDO Mapping Value Range Default Value<br />

00 h Number of entries ro no 0… 3 number of entries:3<br />

01h Vendor ID ro no UNSIGNED32 reads 0286h 02h Product code ro no UNSIGNED32<br />

depends on device e.g. 341, 342, 343,<br />

<strong>351</strong><br />

03h Revision number ro no UNSIGNED32<br />

firmware revision number;<br />

reads e.g. 2003h for version 2.3<br />

04 h Serial number ro no UNSIGNED32 always contains 0 in the current version<br />

6.1.14 Object 1023 h: OS command<br />

The OS Command object is used as a command driven interface to programmable devices. The host<br />

system puts the command into the object OS Command, which is of the type Command Par.<br />

OBJECT DESCRIPTION<br />

Index Name Object Code Data Type Category<br />

1023 h OS command RECORD Command Par Optional<br />

ENTRY DESCRIPTION<br />

Sub-Index Description Access PDO Mapping Value Range Default Value<br />

00h Number of<br />

supported entries<br />

ro no 3<br />

number of entries: 3 (for direct TMCL<br />

communication)<br />

01h Command (TMCL<br />

command)<br />

Status (error code<br />

rw no Octet string no<br />

02h of a TMCL<br />

command)<br />

ro no UNSIGNED8 no<br />

03h Reply (reply of a<br />

TMCL command)<br />

ro no Octet string no<br />

Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG

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