SKS Sweden Bonfiglioli Vectron Agile, Communications Manual

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CANopen Agile 41 06/2010
Objects
Note:
The time distance between two consecutive SYNC messages is monitored.
If object 0x1006/0
communication cycle period is set to a value other than zero, then a communica-
tion error event is triggered whenever the time defined by 0x1006/0 is exceeded by more than 50%.
After SYNC telegram "A", SYNC telegram "B" has to be received latest after the set SYNC time + 50
%.
If object 0x1006/0
communication cycle period is not set (= zero), then this monitoring function is
not active.
Example:
COB ID CB Index SI Data
Read Request 601 40 06 10 00 00 00 00 00
Response 581 43 06 10 00 00 00 00 00
Write Access 601 23 06 10 00 A0 0F 00 00
Response 581 60 06 10 00 00 00 00 00
CB: Control byte SI: Sub-Index All values in hexadecimal without leading "0x"
9.2.5 0x1007/0 Synchronous Window Length
Index Sub-Index Meaning Data Type Access Map Def.-Val
0x1007 0 Synchronous window length Unsigned 32 r/w No See Text
Synchronous window length is the time span after a SYNC message in which the inverter is sup-
posed to update its data from receive PDOs and to send transmit PDOs. If either of these actions is
not possible in the specified time an emergency message is sent and all remaining synchronous
PDOs are discarded until the next SYNC message.
The value for
synchronous window length is given in multiples of micro seconds.
E.g.: 0x1007/0 = 2000 = 2 ms
Note:
If object 0x1007/0
synchronous window length is not set (= zero), then this monitoring function is
not active.
To avoid unnecessary bus load, the emergency message is sent once only. The next emergency
message concerning this problem will be sent after the successful processing of all synchronous
PDOs within the
synchronous window length and a new violation of synchronous window length.