Delta DVP-ES2/EX2/SS2/SA2/SX2/SE — Boot-up services, — Emergency object, Object Function code

DVP - ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming

—Boot-up services

After the slave completes the initialization and enters the pre-operational state, it transmits the Boot-up message.

¾Other predefined CANopen communication objects (SYNC and EMCY)

—SYNC Object (Synchronous object)

The synchronous object is the message broadcasted periodically by the master node in the CANopen network. This object is used to realize the network clock signal. Every device decides whether to use the event and undertake the synchronous communication with other network devices according to its configuration. For example, when controlling the driving device, the devices do not act immediately after they receive the command sent by the master. They do act until they receive the synchronous message. In this way, many devices can act synchronously.

The format of the SYNC message:

COB-ID

80 (hex)

— Emergency object

The emergency object is used by the CANopen device to indicate an internal error. When an emergency error occurs in the device, the device sent the emergency message (including the emergency error code), and the device enters the error state. After the error is eliminated, the device sends the emergency message, the emergency error code is 0, and the device enters the normal state.

The format of the emergency message:

COB-ID	Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7
80 (hex)	Emergency error		Error
	code				Factory-defined error code
+Node-ID	LSB	MSB	register

Note: The value in the error register is mapped to index 1001 (hex) in the object dictionary. If the value is 0, no error occurs. If the value is 1, a normal error occurs. If the value is H’80, an internal error occurs in the device.

7.3.3 The Predefined Connection Set

In order to decrease the configuration workload of the network, CANopen defines a default identifier. In the predefine connection set, the structure of the 11-bit identifier is as follows.

Function code Node ID

The objects which are supported and the COB-IDs which are assigned to the objects are listed below.

¾The broadcast object in the predefined connection setting

Object	Function code	COB-ID	Index of the
			communication
			parameter
NMT	0000	0	-
SYNC	0001	128 (80h)	1005h, 1006h, 1007h
Time stamp	0010	256 (100h)	1012h, 1013h

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