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Protocol Interface Manual CANopen Slave Hilscher Gesellschaft für Systemautomation mbH Rheinstra?e 15 D-65795 Hattersheim Germany Tel. +49 (6190) 9907 - 0 Fax. +49 (6190) 9907 - 50 Sales: +49 (6190) 9907 - 0 Hotline and Support: +49 (6190) 9907 - 99 Sales email: sales@ Hotline and Support email: hotline@ Homepage: List of revisions Index Date 1 06.10.98 Version Chapter Revision 1.000 all File created 2 09.07.99 1.012 all Updated naming of error constants and structure definitions 3 08.03.02 1.030 4 Added description of CAN layer 2 message handling Added heartbeat consumer behavior 2 Although this software has been developed with great care and intensively tested, Hilscher Gesellschaft für Systemautomation mbH cannot guarantee the suitability of this software for any purpose not confirmed by us in writing. Guarantee claims shall be limited to the right to require rectification. Liability for any damages which may have arisen from the use of this software or its documentation shall be limited to cases of intent. We reserve the right to modify our products and their specifiactions at any time in as far as this contributes to technical progress. The version of the manual supplied with the software applies. Copyright * Hilscher Gesellschaft für Systemautomation mbH * Hotline and Support: +49 (6190) 9907-99 * Pi:COS#3E Table of Contents 3 1 Indroduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1.1 Protocol Signification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1.2 The Process Data Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 2 Protocol Parameter . . . . . . . . . .