Baumuller b maXX 1000 - Page 187

PLCopen motion control
Parameter manual b maXX
®
1000
Document no. 5.07004.03
187
of 208
m b maXX
®
1000 standard transmissions type
m Synchronization
In order to synchronize the slaves a SYNC telegram is used. This telegram is unconfirmed (broadcast).
It contains no data. The COB ID is stipulated in object 1005
hex
COB ID SYNC. By default, 80
hex
is spec-
ified. The b maXX
®
1000 CANopen slave can receive SYNC telegrams. It is not a SYNC master!
m Time stamp object
Time Stamp object is not supported.
m Monitoring and error message frame (EMCY)
Emergency telegrams serve as information for b maXX
®
1000 errors. This telegram is transmitted, as
soon as b
maXX
®
1000 recognizes an internal error. An emergency telegram is transmitted at each
new error.
The user data area of the emergency message frame is organized into 3 sections:
Emergency message frame structure:
In accordance with the predefined connection set, the COB ID results from 80
hex
+ Node-ID.
The Emergency error code (byte 0, 1) is defined in CANopen DSP 402.
The conversion to b maXX
®
1000 error numbers in error table from Zpage 188–.
The error register corresponds to the content of object 1001
hex
(also see Zpage 188– error register)
The first two bytes of the manufacturer-specific error field contain the b maXX
®
1000 error number.
If several errors are present and one is cleared, the CANopen slave option module will transmit the
EMCY message frame with the next error number. If all errors are acknowledged, the message frame
“Error reset / no error” will be transmitted by the slave.
Value in sub-
index 02
hex
Type Effect
Tx-PDO
1800
hex
– 1803
hex
Rx-PDO
1400
hex
– 1403
hex
01
hex
(1) synchronous Transmission occurs after
each received SYNC tele
-
gram
PDOs with a matching COB-
ID received before the last
SYNC telegram are accepted
02
hex
- F0
hex
(2 -- 240)
synchronous Transmission occurs after
receiving the set number of
SYNC telegrams
PDOs with a matching COB-
ID received before the last
SYNC telegram are accepted
COB-ID DLC Byte0 Byte1 Byte2 Byte3 to byte7
80
hex
+
Node-ID
08
hex
Emergency error
code
Error
register
Manufacturer specific error field