CANopen device documentation

PZ3-i

Project File	CANopen PZ3-i.xdd
File Version	1.1

• CANopen device documentation
  • Device Information
  • CAN Bus Address
  • Supported Baud rates
  • PDO Mapping
    • RPDO 0x1400
    • TPDO 0x1800
    • TPDO 0x1801
    • TPDO 0x1802
  • Communication Specific Parameters
    • x1000 - Device type
    • x1001 - Error register
    • x1003 - Pre-defined error field
    • x1005 - COB-ID SYNC message
    • x1006 - Communication cycle period
    • x1007 - Synchronous window length
    • x1008 - Manufacturer device name
    • x1009 - Manufacturer hardware version
    • x100A - Manufacturer software version
    • x100C - Guard Time
    • x100D - Life time factor
    • x1014 - COB-ID EMCY
    • x1016 - Consumer heartbeat time
    • x1017 - Producer heartbeat time
    • x1018 - Identity
    • x1019 - Synchronous counter overflow value
    • x1200 - SDO server parameter
    • x1400 - RPDO communication parameter
    • x1600 - RPDO mapping parameter
    • x1800 - TPDO communication parameter
    • x1801 - TPDO communication parameter
    • x1802 - TPDO communication parameter
    • x1A00 - TPDO mapping parameter
    • x1A01 - TPDO mapping parameter
    • x1A02 - TPDO mapping parameter
  • Manufacturer Specific Parameters
    • x2000 - Status Code
    • x2001 - Error Code
    • x2002 - Temperature
    • x2003 - Module Present
    • x2004 - Warning Code
    • x200F - Plasma Active
    • x2010 - Plasma On
    • x2011 - Error Reset
    • x2012 - Power Setpoint
    • x2020 - Plasma Parameters
    • x2030 - Device Error Counters
    • x2031 - Device Plasma On Time
    • x2032 - Module Error Counters
    • x2034 - Module Information
    • x2035 - Device Version Numbers
    • x2100 - Bitrate Setting

Device Information

Vendor Name	relyon plasma GmbH
Vendor ID	0000
Product Name	PZ3-i
Product ID	0000
Granularity	8
RPDO count	1
TPDO count	3
LSS Slave	False
LSS Master	False

CAN Bus Address

SW1	SW2	SW3	SW4	SW5	SW6	CAN Address	SW1	SW2	SW3	SW4	SW5	SW6	CAN Address
0	0	0	0	0	0	0 (CANopen is disabled)	0	0	0	0	0	1	32
1	0	0	0	0	0	1	1	0	0	0	0	1	33
0	1	0	0	0	0	2	0	1	0	0	0	1	34
1	1	0	0	0	0	3	1	1	0	0	0	1	35
0	0	1	0	0	0	4	0	0	1	0	0	1	36
1	0	1	0	0	0	5	1	0	1	0	0	1	37
0	1	1	0	0	0	6	0	1	1	0	0	1	38
1	1	1	0	0	0	7	1	1	1	0	0	1	39
0	0	0	1	0	0	8	0	0	0	1	0	1	40
1	0	0	1	0	0	9	1	0	0	1	0	1	41
0	1	0	1	0	0	10	0	1	0	1	0	1	42
1	1	0	1	0	0	11	1	1	0	1	0	1	43
0	0	1	1	0	0	12	0	0	1	1	0	1	44
1	0	1	1	0	0	13	1	0	1	1	0	1	45
0	1	1	1	0	0	14	0	1	1	1	0	1	46
1	1	1	1	0	0	15	1	1	1	1	0	1	47
0	0	0	0	1	0	16	0	0	0	0	1	1	48
1	0	0	0	1	0	17	1	0	0	0	1	1	49
0	1	0	0	1	0	18	0	1	0	0	1	1	50
1	1	0	0	1	0	19	1	1	0	0	1	1	51
0	0	1	0	1	0	20	0	0	1	0	1	1	52
1	0	1	0	1	0	21	1	0	1	0	1	1	53
0	1	1	0	1	0	22	0	1	1	0	1	1	54
1	1	1	0	1	0	23	1	1	1	0	1	1	55
0	0	0	1	1	0	24	0	0	0	1	1	1	56
1	0	0	1	1	0	25	1	0	0	1	1	1	57
0	1	0	1	1	0	26	0	1	0	1	1	1	58
1	1	0	1	1	0	27	1	1	0	1	1	1	59
0	0	1	1	1	0	28	0	0	1	1	1	1	60
1	0	1	1	1	0	29	1	0	1	1	1	1	61
0	1	1	1	1	0	30	0	1	1	1	1	1	62
1	1	1	1	1	0	31	1	1	1	1	1	1	63

Supported Baud rates

• 10 kBit/s
• 20 kBit/s
• 50 kBit/s
• 125 kBit/s
• 250 kBit/s
• 500 kBit/s
• 800 kBit/s
• 1000 kBit/s
• auto

PDO Mapping

RPDO 0x1400

COB_ID	$NODEID+0x200
Transmission	type=255
0x20100008	Plasma On
0x20120008	Power Setpoint
0x20110008	Error Reset

TPDO 0x1800

COB_ID	$NODEID+0x180
Transmission	type=255; inhibit-time=0; event-timer=0; SYNC-start-value=0
0x20000008	Status Code
0x20010008	Error Code
0x20020008	Temperature
0x20120008	Power Setpoint
0x200F0008	Plasma Active
0x20030008	Module Present

TPDO 0x1801

COB_ID	$NODEID+0x280
Transmission	type=255; inhibit-time=0; event-timer=0; SYNC-start-value=0
0x20200110	Plasma Parameters (Frequency Actual)
0x20200510	Plasma Parameters (Phase Actual)
0x20200610	Plasma Parameters (Impedance Actual)

TPDO 0x1802

COB_ID	$NODEID+0x380
Transmission	type=255; inhibit-time=0; event-timer=0; SYNC-start-value=0
0x20200210	Plasma Parameters (Power Actual)
0x20200310	Plasma Parameters (Voltage Actual)
0x20200410	Plasma Parameters (Current Actual)

Communication Specific Parameters

0x1000 - Device type

Object Type	Count Label	Storage Group
VAR	NMT	PERSIST_COMM
Data Type	SDO	PDO	SRDO	Default Value
-----------------------	---	---	----	-------------------------------
UNSIGNED32	ro	no	no	0x00000000

• bit 16-31: Additional information
• bit 0-15: Device profile number

0x1001 - Error register

Object Type	Count Label	Storage Group
VAR	EM	RAM
Data Type	SDO	PDO	SRDO	Default Value
-----------------------	---	---	----	-------------------------------
UNSIGNED8	ro	no	no	0x00

• bit 7: manufacturer specific (not used)
• bit 6: Reserved (always 0)
• bit 5: device profile specific (not used)
• bit 4: communication error (overrun, error state)
• bit 3: temperature (not used)
• bit 2: voltage (not used)
• bit 1: current (not used)
• bit 0: generic error (see "Error Code" parameter for more information)

0x1003 - Pre-defined error field

Object Type	Count Label	Storage Group
ARRAY		RAM
Sub	Name	Data Type	SDO	PDO	SRDO	Default Value
----	---------------------	----------	---	---	----	-------------
0x00	Number of errors	UNSIGNED8	rw	no	no
0x01	Standard error field	UNSIGNED32	ro	no	no
0x02	Standard error field	UNSIGNED32	ro	no	no
0x03	Standard error field	UNSIGNED32	ro	no	no
0x04	Standard error field	UNSIGNED32	ro	no	no
0x05	Standard error field	UNSIGNED32	ro	no	no
0x06	Standard error field	UNSIGNED32	ro	no	no
0x07	Standard error field	UNSIGNED32	ro	no	no
0x08	Standard error field	UNSIGNED32	ro	no	no
0x09	Standard error field	UNSIGNED32	ro	no	no
0x0A	Standard error field	UNSIGNED32	ro	no	no
0x0B	Standard error field	UNSIGNED32	ro	no	no
0x0C	Standard error field	UNSIGNED32	ro	no	no
0x0D	Standard error field	UNSIGNED32	ro	no	no
0x0E	Standard error field	UNSIGNED32	ro	no	no
0x0F	Standard error field	UNSIGNED32	ro	no	no
0x10	Standard error field	UNSIGNED32	ro	no	no

• 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

0x1005 - COB-ID SYNC message

Object Type	Count Label	Storage Group
VAR	SYNC	PERSIST_COMM
Data Type	SDO	PDO	SRDO	Default Value
-----------------------	---	---	----	-------------------------------
UNSIGNED32	ro	no	no	0x00000080

• 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

0x1006 - Communication cycle period

Object Type	Count Label	Storage Group
VAR	SYNC_PROD	PERSIST_COMM
Data Type	SDO	PDO	SRDO	Default Value
-----------------------	---	---	----	-------------------------------
UNSIGNED32	ro	no	no	0

Period of SYNC transmission in µs (0 = transmission disabled).

0x1007 - Synchronous window length

Object Type	Count Label	Storage Group
VAR		RAM
Data Type	SDO	PDO	SRDO	Default Value
-----------------------	---	---	----	-------------------------------
UNSIGNED32	rw	no	no	0

Synchronous window leghth in µs (0 = not used). All synchronous PDOs must be transmitted within this time window.

0x1008 - Manufacturer device name

Object Type	Count Label	Storage Group
VAR		PERSIST_COMM
Data Type	SDO	PDO	SRDO	Default Value
-----------------------	---	---	----	-------------------------------
VISIBLE_STRING	ro	no	no	PZ3-i

0x1009 - Manufacturer hardware version

Object Type	Count Label	Storage Group
VAR		PERSIST_COMM
Data Type	SDO	PDO	SRDO	Default Value
-----------------------	---	---	----	-------------------------------
VISIBLE_STRING	ro	no	no	V4-i

0x100A - Manufacturer software version

Object Type	Count Label	Storage Group
VAR		PERSIST_COMM
Data Type	SDO	PDO	SRDO	Default Value
-----------------------	---	---	----	-------------------------------
VISIBLE_STRING	ro	no	no	2.0

0x100C - Guard Time

Object Type	Count Label	Storage Group
VAR		RAM
Data Type	SDO	PDO	SRDO	Default Value
-----------------------	---	---	----	-------------------------------
UNSIGNED16	ro	no	no	0

The objects at index 100Ch and 100Dh shall indicate the configured guard time respectively the life time factor. The life time factor multiplied with the guard time gives the life time for the life guarding protocol.

The value shall be given in multiple of ms. The value of 0000h shall disable the life guarding.

This value must be set to 0! Node Guarding with remote frames is not supported. Plese use the Heartbeat protocol.

0x100D - Life time factor

Object Type	Count Label	Storage Group
VAR		RAM
Data Type	SDO	PDO	SRDO	Default Value
-----------------------	---	---	----	-------------------------------
UNSIGNED8	ro	no	no	0

The life time factor multiplied with the guard time gives the life time for the life guarding protocol.

The value of 00h shall disable the life guarding.

This value must be set to 0! Node Guarding with remote frames is not supported. Plese use the Heartbeat protocol.

0x1014 - COB-ID EMCY

Object Type	Count Label	Storage Group
VAR	EM_PROD	RAM
Data Type	SDO	PDO	SRDO	Default Value
-----------------------	---	---	----	-------------------------------
UNSIGNED32	rw	no	no	$NODEID+0x80

• bit 31: If set, EMCY does NOT exist / is NOT valid
• bit 11-30: set to 0
• bit 0-10: 11-bit CAN-ID

0x1016 - Consumer heartbeat time

Object Type	Count Label	Storage Group
ARRAY	HB_CONS	PERSIST_COMM
Sub	Name	Data Type	SDO	PDO	SRDO	Default Value
----	---------------------	----------	---	---	----	-------------
0x00	Highest sub-index supported	UNSIGNED8	ro	no	no	1
0x01	Consumer heartbeat time	UNSIGNED32	rw	no	no	0x00000000

Consumer Heartbeat Time:

• bit 24-31: set to 0
• bit 16-23: Node ID of the monitored node. If 0 or greater than 127, sub-entry is not used.
• bit 0-15: Heartbeat time in ms (if 0, sub-intry is not used). Value should be higher than the corresponding producer heartbeat time.

0x1017 - Producer heartbeat time

Object Type	Count Label	Storage Group
VAR	HB_PROD	RAM
Data Type	SDO	PDO	SRDO	Default Value
-----------------------	---	---	----	-------------------------------
UNSIGNED16	rw	no	no	0

Heartbeat producer time in ms (0 = disable transmission).

0x1018 - Identity

Object Type	Count Label	Storage Group
RECORD		PERSIST_COMM
Sub	Name	Data Type	SDO	PDO	SRDO	Default Value
----	---------------------	----------	---	---	----	-------------
0x00	Highest sub-index supported	UNSIGNED8	ro	no	no	4
0x01	Vendor-ID	UNSIGNED32	ro	no	no	0x00000000
0x02	Product code	UNSIGNED32	ro	no	no	0x00000000
0x03	Revision number	UNSIGNED32	ro	no	no	0x00010000
0x04	Serial number	UNSIGNED32	ro	no	no	0x00000000

• Vendor-ID, assigned by CiA
• Product code, manufacturer specific
• Revision number:
  • bit 16-31: Major revision number (CANopen behavior has changed)
  • bit 0-15: Minor revision num. (CANopen behavior has not changed)
• Serial number, manufacturer specific

0x1019 - Synchronous counter overflow value

Object Type	Count Label	Storage Group
VAR		RAM
Data Type	SDO	PDO	SRDO	Default Value
-----------------------	---	---	----	-------------------------------
UNSIGNED8	rw	no	no	0

• 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.

0x1200 - SDO server parameter

Object Type	Count Label	Storage Group
RECORD	SDO_SRV	RAM
Sub	Name	Data Type	SDO	PDO	SRDO	Default Value
----	---------------------	----------	---	---	----	-------------
0x00	Highest sub-index supported	UNSIGNED8	ro	no	no	2
0x01	COB-ID client to server (rx)	UNSIGNED32	ro	no	no	$NODEID+0x600
0x02	COB-ID server to client (tx)	UNSIGNED32	ro	no	no	$NODEID+0x580

Sub-indexes 1 and 2:

• bit 11-31: set to 0
• bit 0-10: 11-bit CAN-ID

0x1400 - RPDO communication parameter

Object Type	Count Label	Storage Group
RECORD	RPDO	RAM
Sub	Name	Data Type	SDO	PDO	SRDO	Default Value
----	---------------------	----------	---	---	----	-------------
0x00	max sub-index	UNSIGNED8	ro	no	no	6
0x01	COB-ID used by RPDO	UNSIGNED32	ro	no	no	$NODEID+0x200
0x02	transmission type	UNSIGNED8	ro	t	no	255

0x1600 - RPDO mapping parameter

Object Type	Count Label	Storage Group
RECORD		RAM
Sub	Name	Data Type	SDO	PDO	SRDO	Default Value
----	---------------------	----------	---	---	----	-------------
0x00	Number of mapped objects	UNSIGNED8	ro	no	no	3
0x01	Mapped object 1	UNSIGNED32	ro	no	no	0x20100008
0x02	Mapped object 2	UNSIGNED32	ro	no	no	0x20120008
0x03	Mapped object 3	UNSIGNED32	ro	no	no	0x20110008

0x1800 - TPDO communication parameter

Object Type	Count Label	Storage Group
RECORD	TPDO	RAM
Sub	Name	Data Type	SDO	PDO	SRDO	Default Value
----	---------------------	----------	---	---	----	-------------
0x00	max sub-index	UNSIGNED8	ro	no	no	6
0x01	COB-ID used by TPDO	UNSIGNED32	ro	no	no	$NODEID+0x180
0x02	transmission type	UNSIGNED8	ro	no	no	255
0x03	inhibit time	UNSIGNED16	rw	no	no	0
0x04	compatibility entry	UNSIGNED8	rw	no	no	0
0x05	event timer	UNSIGNED16	rw	no	no	0
0x06	SYNC start value	UNSIGNED8	rw	no	no	0

0x1801 - TPDO communication parameter

Object Type	Count Label	Storage Group
RECORD	TPDO	RAM
Sub	Name	Data Type	SDO	PDO	SRDO	Default Value
----	---------------------	----------	---	---	----	-------------
0x00	max sub-index	UNSIGNED8	ro	no	no	6
0x01	COB-ID used by TPDO	UNSIGNED32	ro	no	no	$NODEID+0x280
0x02	transmission type	UNSIGNED8	ro	no	no	255
0x03	inhibit time	UNSIGNED16	rw	no	no	0
0x04	compatibility entry	UNSIGNED8	rw	no	no	0
0x05	event timer	UNSIGNED16	rw	no	no	0
0x06	SYNC start value	UNSIGNED8	rw	no	no	0

0x1802 - TPDO communication parameter

Object Type	Count Label	Storage Group
RECORD	TPDO	RAM
Sub	Name	Data Type	SDO	PDO	SRDO	Default Value
----	---------------------	----------	---	---	----	-------------
0x00	max sub-index	UNSIGNED8	ro	no	no	6
0x01	COB-ID used by TPDO	UNSIGNED32	ro	no	no	$NODEID+0x380
0x02	transmission type	UNSIGNED8	ro	no	no	255
0x03	inhibit time	UNSIGNED16	rw	no	no	0
0x04	compatibility entry	UNSIGNED8	rw	no	no	0
0x05	event timer	UNSIGNED16	rw	no	no	0
0x06	SYNC start value	UNSIGNED8	rw	no	no	0

0x1A00 - TPDO mapping parameter

Object Type	Count Label	Storage Group
RECORD		RAM
Sub	Name	Data Type	SDO	PDO	SRDO	Default Value
----	---------------------	----------	---	---	----	-------------
0x00	Number of mapped objects	UNSIGNED8	ro	no	no	6
0x01	Mapped object 1	UNSIGNED32	ro	no	no	0x20000008
0x02	Mapped object 2	UNSIGNED32	ro	no	no	0x20010008
0x03	Mapped object 3	UNSIGNED32	ro	no	no	0x20020008
0x04	Mapped object 4	UNSIGNED32	ro	no	no	0x20120008
0x05	Mapped object 5	UNSIGNED32	ro	no	no	0x200F0008
0x06	Mapped object 6	UNSIGNED32	ro	no	no	0x20030008

0x1A01 - TPDO mapping parameter

Object Type	Count Label	Storage Group
RECORD		RAM
Sub	Name	Data Type	SDO	PDO	SRDO	Default Value
----	---------------------	----------	---	---	----	-------------
0x00	Number of mapped objects	UNSIGNED8	ro	no	no	3
0x01	Mapped object 1	UNSIGNED32	ro	no	no	0x20200110
0x02	Mapped object 2	UNSIGNED32	ro	no	no	0x20200510
0x03	Mapped object 3	UNSIGNED32	ro	no	no	0x20200610

0x1A02 - TPDO mapping parameter

Object Type	Count Label	Storage Group
RECORD		RAM
Sub	Name	Data Type	SDO	PDO	SRDO	Default Value
----	---------------------	----------	---	---	----	-------------
0x00	Number of mapped objects	UNSIGNED8	ro	no	no	3
0x01	Mapped object 1	UNSIGNED32	ro	no	no	0x20200210
0x02	Mapped object 2	UNSIGNED32	ro	no	no	0x20200310
0x03	Mapped object 3	UNSIGNED32	ro	no	no	0x20200410

Manufacturer Specific Parameters

0x2000 - Status Code

Object Type	Count Label	Storage Group
VAR		RAM
Data Type	SDO	PDO	SRDO	Default Value
-----------------------	---	---	----	-------------------------------
UNSIGNED8	ro	t	no	0

Operation state of the plasma generator

• 0 = Nomal: no warning and no error
• 1 = Warning: at least one warning. Reset automatically when state changes
• 2 = Error :at least one error. Reset by writing 1 to 0x2011 necessary

0x2001 - Error Code

Object Type	Count Label	Storage Group
VAR		RAM
Data Type	SDO	PDO	SRDO	Default Value
-----------------------	---	---	----	-------------------------------
UNSIGNED8	ro	t	no	0

Errors specific to the plasma generator

• 0x00 = NO ERROR
• 0x01 = PLASMA ERROR: Plasma generator was shutdown due to an inadmissible condition.
• 0x02 = TEMPERATURE ERROR: Plasma generator was shutdown due to an inadmissible temperature.
• 0x04 = MODULE ERROR: Module EEPROM contains invalid data.
• 0x08 = COMMUNICATION ERROR: Internal connetion error

A combination (logical or) is possible

0x2002 - Temperature

Object Type	Count Label	Storage Group
VAR		RAM
Data Type	SDO	PDO	SRDO	Default Value
-----------------------	---	---	----	-------------------------------
INTEGER8	ro	t	no	0

Temerature of the plasma output driver in °C

0x2003 - Module Present

Object Type	Count Label	Storage Group
VAR		RAM
Data Type	SDO	PDO	SRDO	Default Value
-----------------------	---	---	----	-------------------------------
UNSIGNED8	ro	t	no	0

0 = no Module inserted 1 = Module inserted

0x2004 - Warning Code

Object Type	Count Label	Storage Group
VAR		RAM
Data Type	SDO	PDO	SRDO	Default Value
-----------------------	---	---	----	-------------------------------
UNSIGNED8	ro	no	no	0

Warnings specific to the plasma generator

• 0x01: WARNING_PLASMA: driver stage parameters for plasma generation is not in optimal range
• 0x02: WARNING_TEMPERATURE: device temperature is getting too high

A combination (logical or) is possible

0x200F - Plasma Active

Object Type	Count Label	Storage Group
VAR		RAM
Data Type	SDO	PDO	SRDO	Default Value
-----------------------	---	---	----	-------------------------------
UNSIGNED8	rw	tr	no	0

Controll register for turning the plasma generator on and off

Writing a value of 1 or greater will turn the plasma generator on.
Writing a 0 will turn the plasma generator off

0x2010 - Plasma On

Object Type	Count Label	Storage Group
VAR		RAM
Data Type	SDO	PDO	SRDO	Default Value
-----------------------	---	---	----	-------------------------------
UNSIGNED8	rw	tr	no	0

Controll register for turning the plasma generator on and off

Writing a value of 1 or greater will turn the plasma generator on.
Writing a 0 will turn the plasma generator off

0x2011 - Error Reset

Object Type	Count Label	Storage Group
VAR		RAM
Data Type	SDO	PDO	SRDO	Default Value
-----------------------	---	---	----	-------------------------------
UNSIGNED8	wo	r	no	0

Writing 1 or greater will reset any error state of the plasma generator

This field is WRITE ONLY!

0x2012 - Power Setpoint

Object Type	Count Label	Storage Group
VAR		RAM
Data Type	SDO	PDO	SRDO	Default Value
-----------------------	---	---	----	-------------------------------
UNSIGNED8	rw	tr	no	100

Power setting of the plasma generator in %.
The minimum value is defined by the module.

0x2020 - Plasma Parameters

Object Type	Count Label	Storage Group
RECORD		RAM
Sub	Name	Data Type	SDO	PDO	SRDO	Default Value
----	---------------------	----------	---	---	----	-------------
0x00	Highest sub-index supported	UNSIGNED8	ro	no	no	6
0x01	Frequency Actual	UNSIGNED16	ro	t	no	0
0x02	Power Actual	UNSIGNED16	ro	t	no	0
0x03	Voltage Actual	UNSIGNED16	ro	t	no	0
0x04	Current Actual	UNSIGNED16	ro	t	no	0
0x05	Phase Actual	UNSIGNED16	ro	t	no	0
0x06	Impedance Actual	UNSIGNED16	ro	t	no	0

Parameters of the plasma driver.
Updated every 0.5 seconds when plasma generator is on

Frequency of the Ceraplas element in x10Hz Magnitide of the Phaseangle between m°

0x2030 - Device Error Counters

Object Type	Count Label	Storage Group
RECORD		RAM
Sub	Name	Data Type	SDO	PDO	SRDO	Default Value
----	---------------------	----------	---	---	----	-------------
0x00	Highest sub-index supported	UNSIGNED8	ro	no	no	4
0x01	Voltage Errors	UNSIGNED32	ro	no	no	0
0x02	Current Errors	UNSIGNED32	ro	no	no	0
0x03	Frequency Errors	UNSIGNED32	ro	no	no	0
0x04	Temperature Errors	UNSIGNED32	ro	no	no	0

Error counters for the plasma geneator device

0x2031 - Device Plasma On Time

Object Type	Count Label	Storage Group
VAR		RAM
Data Type	SDO	PDO	SRDO	Default Value
-----------------------	---	---	----	-------------------------------
UNSIGNED32	ro	no	no	0

Time the device spend in plasma generation mode

0x2032 - Module Error Counters

Object Type	Count Label	Storage Group
RECORD		RAM
Sub	Name	Data Type	SDO	PDO	SRDO	Default Value
----	---------------------	----------	---	---	----	-------------
0x00	Highest sub-index supported	UNSIGNED8	ro	no	no	4
0x01	Voltage Errors	UNSIGNED32	ro	no	no	0
0x02	Current Errors	UNSIGNED32	ro	no	no	0
0x03	Frequency Errors	UNSIGNED32	ro	no	no	0
0x04	Temperature Errors	UNSIGNED32	ro	no	no	0

Error counters for the plasma geneator module

0x2034 - Module Information

Object Type	Count Label	Storage Group
RECORD		RAM
Sub	Name	Data Type	SDO	PDO	SRDO	Default Value
----	---------------------	----------	---	---	----	-------------
0x00	Highest sub-index supported	UNSIGNED8	ro	no	no	5
0x01	Name	VISIBLE_STRING (len=15)	ro	no	no
0x02	Serial Number	UNSIGNED32	ro	no	no	0
0x03	Max Power	UNSIGNED16	ro	no	no	0
0x04	Min Power Setting	UNSIGNED8	ro	no	no	100
0x05	Plasma On Time	UNSIGNED32	ro	no	no	0

General infromation about the plasma module.

• Label of the inserted module
• Serial number of the inserted PZ3 module
• Maximum power of the Module in mW
• Minimum power settingh in %
• Time the module spend in plasma generation mode

Maximum power of the Module in mW Minimum power settingh in %

0x2035 - Device Version Numbers

Object Type	Count Label	Storage Group
RECORD		RAM
Sub	Name	Data Type	SDO	PDO	SRDO	Default Value
----	---------------------	----------	---	---	----	-------------
0x00	Highest sub-index supported	UNSIGNED8	ro	no	no	3
0x01	HW Version	VISIBLE_STRING	ro	no	no	2.0
0x02	SW Version	VISIBLE_STRING	ro	no	no	4-i
0x03	CAN Version	VISIBLE_STRING	ro	no	no	1.0

Version Numbers of Firmware and Hardware

0x2100 - Bitrate Setting

Object Type	Count Label	Storage Group
VAR		RAM
Data Type	SDO	PDO	SRDO	Default Value
-----------------------	---	---	----	-------------------------------
UNSIGNED16	rw	no	no	500

Configure the desired CANopen bitrate of the device. The new bitrate gets applied with the next power cycle.