Isel IMD1, Manual

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CanOpen protocol
Positioning module UVE8112, IMD10
pe no. Cycl Acy Sync As Ty
ous
yn
ous
RTR Description
ic clic hron chron only
0 x x Transfer to SYNC, but not periodical
1-240 x x O f ry xth
data at the xth SYNC.
TPD
RPDO: application of the
: trans er after eve SYNC.
241 251 Reserved. -
252 x x Objects in the PDO are updated with every SYNC, but
R). only sent upon demand (RT
253 x e updated and sent w
TR is eiv
x Objects in the PDO ar hen the
R rec ed.
254 x Not used.
255 vent- troll
f th a
timer.
x E
change
con
o
ed PDO. The
e mapped p
transfer is triggered by a
rameter or an adjustable
NC SY
The SYNC signal provides a common cycle which can be used by all connected participants e.g. for
NC object is sent by a CanOpen participant and received by all devices
the
Can network. No data bytes are transferred with the SYNC.
terpolation mode of operation.
hand the time interval of the
YNC signal; for this, the value (in µs) in the object "Communication Cycle Period" 1006
h
has to be
EMCY
Emergency messages are triggered by internal errors in the device and sent with a high priority to the
an bus. A superordinate control can thus react very quickly to an abnormal behaviour of individual
omponents.
he emergency message is characterised by the identifier 0x80 + node number.
h cy object, 8 d tes are red for the error description. The structure of an
emergency message looks as follows:
the PDO transfer. The SY
participating in a synchronous operation.
The identifier of the SYNC object is by default set to 0x80 and has thus a very high priority within
The SYNC signal plays an important role for the drive module in the In
The superordinate control must communicate to the module before
S
entered.
C
c
By default, t
Wit the emergen ata by transfer
0x080 +
No
1 byte
ID 2 bytes 5 s byte
de-ID
Emergency
EE
error code
C
Error
register
Manu turer-s
M
fac pecific error field
EC
e t t ain the f ault t oc 3 r register
bj 10 d wh d roug las fication of the type of error. The last 5
ytes may contain manufacturer-specific error information.
See Fault states on page 30.
rd
byte, the erro Th firs wo bytes cont error code o the f hat curred. In the
01
h
) is transferre ich only inclu es a h c si (o ect
b
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