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Chapter
6
Operating Instructions
Flexi Soft Gateways
138
© SICK AG • Industrial Safety Systems • Germany • All rights reserved
8012664/XB29/2013-06-11
Subject to change without notice
Fieldbus gateways
6.2.5
SYNC
The SYNC command causes all TxPDOs for a CANopen slave to be sent. It is therefore
possible to poll the slave using SYNC.
CAN ID
DLC
DATA
80h
0
The slave sends all input values when this message arrives. All TxPDOs are sent.
To ensure the slave automatically sends the actual input values on the receipt of a SYNC
command, the transmission type for the related PDOs must be set to 1 (cyclic, synchron-
ous). In addition, the operating mode of the device must be “Operational”.
It is possible to change the transmission type for the TxPDOs using the SDOs
1800 … 1803 (PDO communication parameter) and the sub-object 2. Allowed are the
following types:
acyclic/synchronous = 0
cyclic/synchronous = 1 … 240
acyclic by device profile = 255 (only for TxPDO 1 … 4, digital inputs)
6.2.6
Emergency
A CANopen slave with the address N sends an emergency message to inform the other
devices about an error state.
CAN ID
DLC
DATA
80h + N
8
ErrL ErrH
Err-Reg
M1 M2 M3 M4 M5
ErrL, ErrH
Emergency error code, 16 bit low byte/high byte
7001h … 7003h: Generic error
Err-Reg
Error register, CANopen object SDO 1001h
M1
Module number of the module causing the error (see Tab. 105)
M2 … M5
4 bytes module specific status bits (see Tab. 105). Active bits are
high (=“1”)
Tab. 103: Polling inputs using
SYNC
Tab. 104: Emergency
messages