• SBI-COP/DN-AGy Card
Instruction Manual
Eng
lish
- Reset_Communication
CS = 130
Being that the “Minimum Boot-up” is used, also the following NMT services
are managed:
- Start_Remote_Mode
CS = 1
- Stop_Remote_Mode
CS = 2
The COB-ID * of an initialization NMT service is always at 0; CS is the Com-
mand Specifier defining the NMT service.
3.1.3 Initialization
The AGy drive supports the Node Guarding mechanism. The Node Guarding
configuration can be performed through the master via the standard Object
Dictionary elements (1006h, 100Ch, 100Dh).
The drive checks the master functioning conditions through the Life Guarding.
If the check fails, the drive enables the “Buss Loss” alarm. The Life Guarding
threshold can be calculated as follows:
Condition
Life Guarding Time (ms)
"guard time"> 0,
"life time factor"> 0,
"guard time" * "life time factor"
"guard time" = 0,
"communication cycle period" > 0,
"life time factor"> 0,
"communication cycle period" / 1000 * "life time factor"
tab04
If both “guard time” and “communication cycle period” are set to 0, or if “life
time factor” is set to 0, then the function is disabled. The default value of
“life time factor” is 3.
3.1.4 Communication Object
This chapter describes the communication objects of the CANopen protocol;
they are managed by the interface card. The managed communication
objects are:
1) 1 SDO reception Server.
2) 1 SDO transmission Server.
3) 2 reception PDOs.
4) 2 transmission PDOs.
5) 1 Emergency Object.
6) 1 Node Guarding - Life Guarding.
7) 1 SYNC object.
The following table lists the used communication objects and the Message
Identifier; the “Resulting COB-ID” is obtained by adding the Node-ID (card
address) to the number.
CS: Command Specifier; it
defines the NMT service.
COB = Communication Object
(CAN Message). It is a trans-
port unit inside a CAN network.
The data must be sent in
network inside a COB.
COB-ID = COB-Identifier. It
identifies a COB inside the
network. It also states the
COB priority.
