Delta DVP-ES3 Series Hardware Manual

Chapter 10 CANopen Function and Operation
10-21
10
 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.
Request
Receiving
Receiving
Request
Heartbeat consumer
Heartbeat producer
Heartbeat
producing
time
Heartbeat
timeout
period
Heartbeat event
Heartbeat
timeout
period
Receiving

Delta DVP-ES3 Series Specifications

General

Brand	Delta
Model	DVP-ES3 Series
Category	Controller
Language	English