Delta AS300 Series - The Predefined Connection Set

AS Series Operation Manual
10-18
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 Boot-up services
After the slave completes the initialization and enters the pre-operational state, it transmits the Boot-
up message.
1. Other predefined CANopen communication objects (SYNC and EMCY)
 SYNC Object (Synchronous object)
The synchronous object is the message that the master node periodically broadcasts on the CANopen
network. This object recognizes the network clock signal. Every device decides whether to use the
event use synchronous communication with other network devices depending on its configuration. For
example, when controlling a driving device, the devices do not act immediately after they receive the
command sent by the master. They do act when they receive the synchronous message. This makes
multiple devices act synchronously.
The format of the SYNC message:
COB-ID
80 (hex)
 Emergency object
The emergency object is used by a CANopen device to indicate an internal error. When an emergency
error occurs in the device, the device sends the emergency message (including the emergency error
code), and the device enters an error state. After the error is eliminated, the device sends another
emergency message with emergency error code 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)
+Node-ID
Emergency error
code
Error
register
Factory-defined error code
LSB MSB
Note: The value in the error register is mapped to index 1001 (hex) in the object dictionary. If the value is
0, no error occurred. If the value is 1, a normal error occurred. If the value is H’80, an internal error
occurred in the device.
10.3.3 The Predefined Connection Set
In order to decrease the configuration workload of the network, CANopen defines a default identifier. In the
predefined connection set, the structure of the 11-bit identifier is as follows.
Function code
Node ID